TSTP Solution File: SWV423-1.010 by GKC---0.8

%------------------------------------------------------------------------------
% File     : GKC---0.8
% Problem  : SWV423-1.010 : TPTP v8.1.2. Released v3.5.0.
% Transfm  : none
% Format   : tptp:raw
% Command  : gkc %s

% Computer : n015.cluster.edu
% Model    : x86_64 x86_64
% CPU      : Intel(R) Xeon(R) CPU E5-2620 v4 2.10GHz
% Memory   : 8042.1875MB
% OS       : Linux 3.10.0-693.el7.x86_64
% CPULimit : 300s
% WCLimit  : 300s
% DateTime : Thu Aug 31 22:27:22 EDT 2023

% Result   : Unsatisfiable 32.27s 4.74s
% Output   : CNFRefutation 32.27s
% Verified : 
% SZS Type : ERROR: Analysing output (Could not find formula named m_ERTable_44)

% Comments : 
%------------------------------------------------------------------------------
cnf('1',plain,
    ( node175(X,Y,Z)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_ERTable_44]) ).

cnf('2',plain,
    m_ERTable_v_s(c_ERT,c_s),
    inference(cnf_transformation,[],[m_main_4]) ).

cnf('3',plain,
    m_ERTable_v_s(c_ERT,c_s),
    inference(cnf_transformation,[],[m_main_4]) ).

cnf('4',plain,
    ( node175(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['1','2','3']) ).

cnf('5',plain,
    ( ~ succ(X,Y)
    | trans(X,Y) ),
    inference(cnf_transformation,[],[bound11]) ).

cnf('6',plain,
    succ(s0,s1),
    inference(cnf_transformation,[],[bound1]) ).

cnf('7',plain,
    trans(s0,s1),
    inference(resolution,[],['5','6']) ).

cnf('8',plain,
    node175(c_s,s0,s1),
    inference(resolution,[],['4','7']) ).

cnf('9',plain,
    ( ~ node175(X,Y,Z)
    | ~ m_state_v_TRM(X,Y,c_idle)
    | ~ m_state_v_TEM(X,Y,c_idle)
    | m_state_v_TEM(X,Z,c_up)
    | ~ m_state_v_minRot(X,Y)
    | ~ m_state_v_botPos(X,Y)
    | ~ m_state_v_tl(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_39]) ).

cnf('10',plain,
    m_state_v_TRM(X,s0,c_idle),
    inference(cnf_transformation,[],[m_state_83]) ).

cnf('11',plain,
    m_state_v_TEM(X0,s0,c_idle),
    inference(cnf_transformation,[],[m_state_82]) ).

cnf('12',plain,
    m_state_v_minRot(X0,s0),
    inference(cnf_transformation,[],[m_state_81]) ).

cnf('13',plain,
    m_state_v_botPos(X0,s0),
    inference(cnf_transformation,[],[m_state_80]) ).

cnf('14',plain,
    m_state_v_tl(X0,s0),
    inference(cnf_transformation,[],[m_state_84]) ).

cnf('15',plain,
    ( ~ node175(X,s0,Y)
    | m_state_v_TEM(X,Y,c_up) ),
    inference(resolution,[then_simplify],['9','10','11','12','13','14']) ).

cnf('16',plain,
    m_state_v_TEM(c_s,s1,c_up),
    inference(resolution,[],['8','15']) ).

cnf('17',plain,
    ( ~ node174(X,Y,Z)
    | ~ m_state_v_TEM(X,Y,U)
    | m_state_v_TEM(X,Z,U) ),
    inference(cnf_transformation,[],[m_ERTable_37]) ).

cnf('18',plain,
    ( ~ node174(c_s,s1,X)
    | m_state_v_TEM(c_s,X,c_up) ),
    inference(resolution,[],['16','17']) ).

cnf('19',plain,
    succ(s1,s2),
    inference(cnf_transformation,[],[bound2]) ).

cnf('20',plain,
    trans(s1,s2),
    inference(resolution,[],['5','19']) ).

cnf('21',plain,
    node175(c_s,s1,s2),
    inference(resolution,[],['4','20']) ).

cnf('22',plain,
    ( ~ node175(X,Y,Z)
    | node174(X,Y,Z)
    | node173(X,Y)
    | node172(X,Y)
    | node171(X,Y)
    | node170(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_43]) ).

cnf('23',plain,
    ( ~ m_state_v_A1M(X,Y,c_idle)
    | ~ m_state_v_A1M(X,Y,c_retract) ),
    inference(cnf_transformation,[],[m_state_4]) ).

cnf('24',plain,
    m_state_v_A1M(X,s0,c_idle),
    inference(cnf_transformation,[],[m_state_87]) ).

cnf('25',plain,
    ~ m_state_v_A1M(X,s0,c_retract),
    inference(resolution,[],['23','24']) ).

cnf('26',plain,
    ( m_state_v_A1M(X,Y,c_retract)
    | ~ node1(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_2]) ).

cnf('27',plain,
    ~ node1(X,s0),
    inference(resolution,[],['25','26']) ).

cnf('28',plain,
    ( ~ node4(X,Y,Z)
    | node3(X,Y,Z)
    | node2(X,Y)
    | node1(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_11]) ).

cnf('29',plain,
    ( ~ node2(X,Y)
    | m_state_v_deliv(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_5]) ).

cnf('30',plain,
    ~ m_state_v_deliv(X,s0),
    inference(cnf_transformation,[],[m_state_78]) ).

cnf('31',plain,
    ~ node2(X3,s0),
    inference(resolution,[],['29','30']) ).

cnf('32',plain,
    ( ~ node4(X,s0,Y)
    | node3(X,s0,Y) ),
    inference(resolution,[then_simplify],['27','28','31']) ).

cnf('33',plain,
    ( node4(X,Y,Z)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Communication_12]) ).

cnf('34',plain,
    m_Communication_v_s(c_COM,c_s),
    inference(cnf_transformation,[],[m_main_1]) ).

cnf('35',plain,
    m_Communication_v_s(c_COM,c_s),
    inference(cnf_transformation,[],[m_main_1]) ).

cnf('36',plain,
    ( node4(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['33','34','35']) ).

cnf('37',plain,
    node4(c_s,s0,s1),
    inference(resolution,[],['36','7']) ).

cnf('38',plain,
    node3(c_s,s0,s1),
    inference(resolution,[],['32','37']) ).

cnf('39',plain,
    ( ~ node3(X,Y,Z)
    | ~ m_state_v_tl(X,Y)
    | m_state_v_tl(X,Z) ),
    inference(cnf_transformation,[],[m_Communication_7]) ).

cnf('40',plain,
    m_state_v_tl(X,s0),
    inference(cnf_transformation,[],[m_state_84]) ).

cnf('41',plain,
    ( ~ node3(X,s0,Y)
    | m_state_v_tl(X,Y) ),
    inference(resolution,[],['39','40']) ).

cnf('42',plain,
    m_state_v_tl(c_s,s1),
    inference(resolution,[],['38','41']) ).

cnf('43',plain,
    ( ~ node172(X,Y)
    | ~ m_state_v_tl(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_34]) ).

cnf('44',plain,
    ~ node172(c_s,s1),
    inference(resolution,[],['42','43']) ).

cnf('45',plain,
    ( ~ m_state_v_TEM(X,Y,c_down)
    | ~ m_state_v_TEM(X,Y,c_idle) ),
    inference(cnf_transformation,[],[m_state_38]) ).

cnf('46',plain,
    m_state_v_TEM(X,s0,c_idle),
    inference(cnf_transformation,[],[m_state_82]) ).

cnf('47',plain,
    ~ m_state_v_TEM(X,s0,c_down),
    inference(resolution,[],['45','46']) ).

cnf('48',plain,
    ( ~ node22(X,Y,Z)
    | m_state_v_TEM(X,Y,c_down)
    | m_state_v_TEM(X,Y,c_up)
    | node21(X,Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_16]) ).

cnf('49',plain,
    ( ~ m_state_v_TEM(X,Y,c_idle)
    | ~ m_state_v_TEM(X,Y,c_up) ),
    inference(cnf_transformation,[],[m_state_37]) ).

cnf('50',plain,
    ~ m_state_v_TEM(X3,s0,c_up),
    inference(resolution,[],['49','46']) ).

cnf('51',plain,
    ( ~ node22(X,s0,Y)
    | node21(X,s0,Y) ),
    inference(resolution,[then_simplify],['47','48','50']) ).

cnf('52',plain,
    ( node22(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_17]) ).

cnf('53',plain,
    m_Sensor_v_s(c_SEN,c_s),
    inference(cnf_transformation,[],[m_main_8]) ).

cnf('54',plain,
    m_Sensor_v_s(c_SEN,c_s),
    inference(cnf_transformation,[],[m_main_8]) ).

cnf('55',plain,
    ( node22(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['52','53','54']) ).

cnf('56',plain,
    node22(c_s,s0,s1),
    inference(resolution,[],['55','7']) ).

cnf('57',plain,
    node21(c_s,s0,s1),
    inference(resolution,[],['51','56']) ).

cnf('58',plain,
    ( ~ node21(X,Y,Z)
    | ~ m_state_v_topPos(X,Z)
    | m_state_v_topPos(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_13]) ).

cnf('59',plain,
    ~ m_state_v_topPos(X,s0),
    inference(cnf_transformation,[],[m_state_86]) ).

cnf('60',plain,
    ( ~ node21(X,s0,Y)
    | ~ m_state_v_topPos(X,Y) ),
    inference(resolution,[],['58','59']) ).

cnf('61',plain,
    ~ m_state_v_topPos(c_s,s1),
    inference(resolution,[],['57','60']) ).

cnf('62',plain,
    ( ~ node171(X,Y)
    | m_state_v_topPos(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_29]) ).

cnf('63',plain,
    ~ node171(c_s,s1),
    inference(resolution,[],['61','62']) ).

cnf('64',plain,
    ( node169(X,Y,Z)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ m_ERTable_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_ERTable_22]) ).

cnf('65',plain,
    ( node169(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['64','2','3']) ).

cnf('66',plain,
    node169(c_s,s0,s1),
    inference(resolution,[],['65','7']) ).

cnf('67',plain,
    ( ~ node169(X,Y,Z)
    | ~ m_state_v_TRM(X,Y,c_idle)
    | ~ m_state_v_TEM(X,Y,c_idle)
    | m_state_v_TRM(X,Z,c_clockwise)
    | ~ m_state_v_minRot(X,Y)
    | ~ m_state_v_botPos(X,Y)
    | ~ m_state_v_tl(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_17]) ).

cnf('68',plain,
    ( ~ node169(X,s0,Y)
    | m_state_v_TRM(X,Y,c_clockwise) ),
    inference(resolution,[then_simplify],['67','10','11','12','13','14']) ).

cnf('69',plain,
    m_state_v_TRM(c_s,s1,c_clockwise),
    inference(resolution,[],['66','68']) ).

cnf('70',plain,
    ( ~ m_state_v_TRM(X,Y,c_clockwise)
    | ~ m_state_v_TRM(X,Y,c_idle) ),
    inference(cnf_transformation,[],[m_state_41]) ).

cnf('71',plain,
    ~ m_state_v_TRM(c_s,s1,c_idle),
    inference(resolution,[],['69','70']) ).

cnf('72',plain,
    ( m_state_v_TRM(X,Y,c_idle)
    | ~ node170(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_26]) ).

cnf('73',plain,
    ~ node170(c_s,s1),
    inference(resolution,[],['71','72']) ).

cnf('74',plain,
    ( node174(c_s,s1,s2)
    | node173(c_s,s1) ),
    inference(resolution,[then_simplify],['21','22','44','63','73']) ).

cnf('75',plain,
    ( ~ m_state_v_TEM(X,Y,c_down)
    | ~ m_state_v_TEM(X,Y,c_up) ),
    inference(cnf_transformation,[],[m_state_36]) ).

cnf('76',plain,
    ~ m_state_v_TEM(c_s,s1,c_down),
    inference(resolution,[],['16','75']) ).

cnf('77',plain,
    ( m_state_v_TEM(X,Y,c_down)
    | ~ node173(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_35]) ).

cnf('78',plain,
    ~ node173(c_s,s1),
    inference(resolution,[],['76','77']) ).

cnf('79',plain,
    node174(c_s,s1,s2),
    inference(simplify,[],['74','78']) ).

cnf('80',plain,
    m_state_v_TEM(c_s,s2,c_up),
    inference(resolution,[],['18','79']) ).

cnf('81',plain,
    ( ~ node175(X,Y,Z)
    | ~ m_state_v_TEM(X,Y,c_up)
    | m_state_v_TEM(X,Z,c_idle)
    | ~ m_state_v_topPos(X,Y)
    | node170(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_40]) ).

cnf('82',plain,
    node22(c_s,s1,s2),
    inference(resolution,[],['55','20']) ).

cnf('83',plain,
    ( ~ node22(X,Y,Z)
    | ~ m_state_v_TEM(X,Y,c_up)
    | m_state_v_topPos(X,Z) ),
    inference(cnf_transformation,[],[m_Sensor_14]) ).

cnf('84',plain,
    ( ~ m_state_v_TEM(c_s,s1,c_up)
    | m_state_v_topPos(c_s,s2) ),
    inference(resolution,[],['82','83']) ).

cnf('85',plain,
    m_state_v_topPos(c_s,s2),
    inference(resolution,[],['16','84']) ).

cnf('86',plain,
    ( node26(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_29]) ).

cnf('87',plain,
    ( node26(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['86','53','54']) ).

cnf('88',plain,
    node26(c_s,s1,s2),
    inference(resolution,[],['87','20']) ).

cnf('89',plain,
    ( ~ node26(X0,X1,X2)
    | ~ m_state_v_TRM(X0,X1,c_clockwise)
    | m_state_v_TRM(X0,X1,c_counterclockwise)
    | ~ m_state_v_minRot(X0,X2) ),
    inference(cnf_transformation,[],[m_Sensor_27]) ).

cnf('90',plain,
    ( ~ m_state_v_TRM(X0,X1,c_clockwise)
    | ~ m_state_v_TRM(X0,X1,c_counterclockwise) ),
    inference(cnf_transformation,[],[m_state_40]) ).

cnf('91',plain,
    ( ~ node26(X,Y,Z)
    | ~ m_state_v_TRM(X,Y,c_clockwise)
    | ~ m_state_v_minRot(X,Z) ),
    inference(simplify,[],['89','90']) ).

cnf('92',plain,
    ( ~ m_state_v_TRM(c_s,s1,c_clockwise)
    | ~ m_state_v_minRot(c_s,s2) ),
    inference(resolution,[],['88','91']) ).

cnf('93',plain,
    ~ m_state_v_minRot(c_s,s2),
    inference(resolution,[],['69','92']) ).

cnf('94',plain,
    ( ~ node170(X,Y)
    | m_state_v_minRot(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_24]) ).

cnf('95',plain,
    ~ node170(c_s,s2),
    inference(resolution,[],['93','94']) ).

cnf('96',plain,
    ( ~ node175(c_s,s2,X)
    | m_state_v_TEM(c_s,X,c_idle) ),
    inference(resolution,[then_simplify],['80','81','85','95']) ).

cnf('97',plain,
    succ(s2,s3),
    inference(cnf_transformation,[],[bound3]) ).

cnf('98',plain,
    trans(s2,s3),
    inference(resolution,[],['5','97']) ).

cnf('99',plain,
    node175(c_s,s2,s3),
    inference(resolution,[],['4','98']) ).

cnf('100',plain,
    m_state_v_TEM(c_s,s3,c_idle),
    inference(resolution,[],['96','99']) ).

cnf('101',plain,
    ~ m_state_v_TEM(c_s,s3,c_up),
    inference(resolution,[],['100','49']) ).

cnf('102',plain,
    ( m_state_v_TEM(X,Y,c_up)
    | ~ node171(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_28]) ).

cnf('103',plain,
    ~ node171(c_s,s3),
    inference(resolution,[],['101','102']) ).

cnf('104',plain,
    ( node24(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_23]) ).

cnf('105',plain,
    ( node24(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['104','53','54']) ).

cnf('106',plain,
    node24(c_s,s2,s3),
    inference(resolution,[],['105','98']) ).

cnf('107',plain,
    ( ~ node24(X0,X1,X2)
    | ~ m_state_v_TEM(X0,X1,c_up)
    | m_state_v_TEM(X0,X1,c_down)
    | ~ m_state_v_botPos(X0,X2) ),
    inference(cnf_transformation,[],[m_Sensor_21]) ).

cnf('108',plain,
    ( ~ m_state_v_TEM(X0,X1,c_down)
    | ~ m_state_v_TEM(X0,X1,c_up) ),
    inference(cnf_transformation,[],[m_state_36]) ).

cnf('109',plain,
    ( ~ node24(X,Y,Z)
    | ~ m_state_v_TEM(X,Y,c_up)
    | ~ m_state_v_botPos(X,Z) ),
    inference(simplify,[],['107','108']) ).

cnf('110',plain,
    ( ~ m_state_v_TEM(c_s,s2,c_up)
    | ~ m_state_v_botPos(c_s,s3) ),
    inference(resolution,[],['106','109']) ).

cnf('111',plain,
    ~ m_state_v_botPos(c_s,s3),
    inference(resolution,[],['80','110']) ).

cnf('112',plain,
    ( ~ node173(X,Y)
    | m_state_v_botPos(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_36]) ).

cnf('113',plain,
    ~ node173(c_s,s3),
    inference(resolution,[],['111','112']) ).

cnf('114',plain,
    node4(c_s,s2,s3),
    inference(resolution,[],['36','98']) ).

cnf('115',plain,
    ( node3(c_s,s2,s3)
    | node2(c_s,s2)
    | node1(c_s,s2) ),
    inference(resolution,[],['114','28']) ).

cnf('116',plain,
    ( node180(X,Y,Z)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_FeedBelt_24]) ).

cnf('117',plain,
    m_FeedBelt_v_s(c_FB,c_s),
    inference(cnf_transformation,[],[m_main_5]) ).

cnf('118',plain,
    m_FeedBelt_v_s(c_FB,c_s),
    inference(cnf_transformation,[],[m_main_5]) ).

cnf('119',plain,
    ( node180(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['116','117','118']) ).

cnf('120',plain,
    node180(c_s,s1,s2),
    inference(resolution,[],['119','20']) ).

cnf('121',plain,
    ( ~ node180(X,Y,Z)
    | node179(X,Y,Z)
    | node178(X,Y)
    | node177(X,Y)
    | node176(X,Y) ),
    inference(cnf_transformation,[],[m_FeedBelt_23]) ).

cnf('122',plain,
    ( ~ m_state_v_FBM(X,Y,c_off)
    | ~ m_state_v_FBM(X,Y,c_on) ),
    inference(cnf_transformation,[],[m_state_26]) ).

cnf('123',plain,
    m_state_v_FBM(X,s0,c_off),
    inference(cnf_transformation,[],[m_state_77]) ).

cnf('124',plain,
    ~ m_state_v_FBM(X,s0,c_on),
    inference(resolution,[],['122','123']) ).

cnf('125',plain,
    ( m_state_v_FBM(X,Y,c_on)
    | ~ node17(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_1]) ).

cnf('126',plain,
    ~ node17(X,s0),
    inference(resolution,[],['124','125']) ).

cnf('127',plain,
    ( ~ node20(X,Y,Z)
    | node19(X,Y,Z)
    | node18(X,Y)
    | node17(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_10]) ).

cnf('128',plain,
    ( ~ node18(X,Y)
    | m_state_v_deliv(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_5]) ).

cnf('129',plain,
    ~ node18(X3,s0),
    inference(resolution,[],['128','30']) ).

cnf('130',plain,
    ( ~ node20(X,s0,Y)
    | node19(X,s0,Y) ),
    inference(resolution,[then_simplify],['126','127','129']) ).

cnf('131',plain,
    ( node20(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_11]) ).

cnf('132',plain,
    ( node20(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['131','53','54']) ).

cnf('133',plain,
    node20(c_s,s0,s1),
    inference(resolution,[],['132','7']) ).

cnf('134',plain,
    node19(c_s,s0,s1),
    inference(resolution,[],['130','133']) ).

cnf('135',plain,
    ( ~ node19(X,Y,Z)
    | ~ m_state_v_pfl(X,Y)
    | m_state_v_pfl(X,Z) ),
    inference(cnf_transformation,[],[m_Sensor_6]) ).

cnf('136',plain,
    m_state_v_pfl(X,s0),
    inference(cnf_transformation,[],[m_state_79]) ).

cnf('137',plain,
    ( ~ node19(X,s0,Y)
    | m_state_v_pfl(X,Y) ),
    inference(resolution,[],['135','136']) ).

cnf('138',plain,
    m_state_v_pfl(c_s,s1),
    inference(resolution,[],['134','137']) ).

cnf('139',plain,
    ( ~ node178(X,Y)
    | ~ m_state_v_pfl(X,Y) ),
    inference(cnf_transformation,[],[m_FeedBelt_17]) ).

cnf('140',plain,
    ~ node178(c_s,s1),
    inference(resolution,[],['138','139']) ).

cnf('141',plain,
    ( ~ node177(X,Y)
    | ~ m_state_v_tl(X,Y) ),
    inference(cnf_transformation,[],[m_FeedBelt_13]) ).

cnf('142',plain,
    ~ node177(c_s,s1),
    inference(resolution,[],['42','141']) ).

cnf('143',plain,
    ( ~ node176(X,Y)
    | ~ m_state_v_tl(X,Y) ),
    inference(cnf_transformation,[],[m_FeedBelt_8]) ).

cnf('144',plain,
    ~ node176(c_s,s1),
    inference(resolution,[],['42','143']) ).

cnf('145',plain,
    node179(c_s,s1,s2),
    inference(resolution,[then_simplify],['120','121','140','142','144']) ).

cnf('146',plain,
    ( ~ node179(X,Y,Z)
    | ~ m_state_v_deliv(X,Z)
    | m_state_v_deliv(X,Y) ),
    inference(cnf_transformation,[],[m_FeedBelt_19]) ).

cnf('147',plain,
    node180(c_s,s0,s1),
    inference(resolution,[],['119','7']) ).

cnf('148',plain,
    ( ~ node178(X,Y)
    | m_state_v_deliv(X,Y) ),
    inference(cnf_transformation,[],[m_FeedBelt_16]) ).

cnf('149',plain,
    ~ node178(X,s0),
    inference(resolution,[],['148','30']) ).

cnf('150',plain,
    ~ node177(X3,s0),
    inference(resolution,[],['141','40']) ).

cnf('151',plain,
    ~ node176(X3,s0),
    inference(resolution,[],['143','40']) ).

cnf('152',plain,
    ( ~ node180(X,s0,Y)
    | node179(X,s0,Y) ),
    inference(resolution,[then_simplify],['121','149','150','151']) ).

cnf('153',plain,
    node179(c_s,s0,s1),
    inference(resolution,[],['147','152']) ).

cnf('154',plain,
    ( ~ node179(X,s0,Y)
    | ~ m_state_v_deliv(X,Y) ),
    inference(resolution,[],['146','30']) ).

cnf('155',plain,
    ~ m_state_v_deliv(c_s,s1),
    inference(resolution,[],['153','154']) ).

cnf('156',plain,
    ~ m_state_v_deliv(c_s,s2),
    inference(resolution,[then_simplify],['145','146','155']) ).

cnf('157',plain,
    ~ node2(c_s,s2),
    inference(resolution,[],['156','29']) ).

cnf('158',plain,
    ( node131(X,Y,Z)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Robot_54]) ).

cnf('159',plain,
    m_Robot_v_s(c_RB,c_s),
    inference(cnf_transformation,[],[m_main_7]) ).

cnf('160',plain,
    m_Robot_v_s(c_RB,c_s),
    inference(cnf_transformation,[],[m_main_7]) ).

cnf('161',plain,
    ( node131(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['158','159','160']) ).

cnf('162',plain,
    node131(c_s,s0,s1),
    inference(resolution,[],['161','7']) ).

cnf('163',plain,
    ( ~ node131(X,Y,Z)
    | node130(X,Y,Z)
    | node129(X,Y)
    | node128(X,Y)
    | node127(X,Y)
    | node126(X,Y)
    | node125(X,Y)
    | node124(X,Y)
    | node123(X,Y)
    | node122(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_53]) ).

cnf('164',plain,
    ( m_state_v_A1M(X,Y,c_retract)
    | ~ node129(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_41]) ).

cnf('165',plain,
    ~ node129(X,s0),
    inference(resolution,[],['25','164']) ).

cnf('166',plain,
    ( m_state_v_A1M(X,Y,c_retract)
    | ~ node128(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_38]) ).

cnf('167',plain,
    ~ node128(X3,s0),
    inference(resolution,[],['25','166']) ).

cnf('168',plain,
    ( ~ m_state_v_a1ext(X,Y,c_a1ip)
    | ~ m_state_v_a1ext(X,Y,c_retracted) ),
    inference(cnf_transformation,[],[m_state_45]) ).

cnf('169',plain,
    m_state_v_a1ext(X,s0,c_retracted),
    inference(cnf_transformation,[],[m_state_90]) ).

cnf('170',plain,
    ~ m_state_v_a1ext(X,s0,c_a1ip),
    inference(resolution,[],['168','169']) ).

cnf('171',plain,
    ( m_state_v_a1ext(X,Y,c_a1ip)
    | ~ node127(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_34]) ).

cnf('172',plain,
    ~ node127(X3,s0),
    inference(resolution,[],['170','171']) ).

cnf('173',plain,
    ( ~ m_state_v_A1Mag(X,Y,c_off)
    | ~ m_state_v_A1Mag(X,Y,c_on) ),
    inference(cnf_transformation,[],[m_state_6]) ).

cnf('174',plain,
    m_state_v_A1Mag(X,s0,c_off),
    inference(cnf_transformation,[],[m_state_94]) ).

cnf('175',plain,
    ~ m_state_v_A1Mag(X,s0,c_on),
    inference(resolution,[],['173','174']) ).

cnf('176',plain,
    ( m_state_v_A1Mag(X,Y,c_on)
    | ~ node126(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_32]) ).

cnf('177',plain,
    ~ node126(X3,s0),
    inference(resolution,[],['175','176']) ).

cnf('178',plain,
    ( ~ m_state_v_A1M(X,Y,c_extend)
    | ~ m_state_v_A1M(X,Y,c_idle) ),
    inference(cnf_transformation,[],[m_state_3]) ).

cnf('179',plain,
    ~ m_state_v_A1M(X,s0,c_extend),
    inference(resolution,[],['178','24']) ).

cnf('180',plain,
    ( m_state_v_A1M(X,Y,c_extend)
    | ~ node125(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_27]) ).

cnf('181',plain,
    ~ node125(X3,s0),
    inference(resolution,[],['179','180']) ).

cnf('182',plain,
    ( m_state_v_A1M(X,Y,c_extend)
    | ~ node124(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_24]) ).

cnf('183',plain,
    ~ node124(X3,s0),
    inference(resolution,[],['179','182']) ).

cnf('184',plain,
    ( ~ node123(X,Y)
    | m_state_v_midPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_20]) ).

cnf('185',plain,
    ~ m_state_v_midPosP(X,s0),
    inference(cnf_transformation,[],[m_state_97]) ).

cnf('186',plain,
    ~ node123(X3,s0),
    inference(resolution,[],['184','185']) ).

cnf('187',plain,
    ( ~ node122(X,Y)
    | m_state_v_topPos(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_9]) ).

cnf('188',plain,
    ~ node122(X3,s0),
    inference(resolution,[],['187','59']) ).

cnf('189',plain,
    ( ~ node131(X,s0,Y)
    | node130(X,s0,Y) ),
    inference(resolution,[then_simplify],['163','165','167','172','177','181','183','186','188']) ).

cnf('190',plain,
    node130(c_s,s0,s1),
    inference(resolution,[],['162','189']) ).

cnf('191',plain,
    ( ~ node130(X,Y,Z)
    | ~ m_state_v_A1M(X,Z,U)
    | m_state_v_A1M(X,Y,U) ),
    inference(cnf_transformation,[],[m_Robot_44]) ).

cnf('192',plain,
    ( ~ node130(X,s0,Y)
    | ~ m_state_v_A1M(X,Y,c_retract) ),
    inference(resolution,[],['191','25']) ).

cnf('193',plain,
    ~ m_state_v_A1M(c_s,s1,c_retract),
    inference(resolution,[],['190','192']) ).

cnf('194',plain,
    ( ~ node130(c_s,s1,X)
    | ~ m_state_v_A1M(c_s,X,c_retract) ),
    inference(resolution,[],['193','191']) ).

cnf('195',plain,
    node131(c_s,s1,s2),
    inference(resolution,[],['161','20']) ).

cnf('196',plain,
    ( ~ m_state_v_RRM(X,Y,c_counterclock)
    | ~ m_state_v_RRM(X,Y,c_idle) ),
    inference(cnf_transformation,[],[m_state_34]) ).

cnf('197',plain,
    m_state_v_RRM(X,s0,c_idle),
    inference(cnf_transformation,[],[m_state_92]) ).

cnf('198',plain,
    ~ m_state_v_RRM(X,s0,c_counterclock),
    inference(resolution,[],['196','197']) ).

cnf('199',plain,
    ( m_state_v_RRM(X,Y,c_counterclock)
    | ~ node39(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_65]) ).

cnf('200',plain,
    ~ node39(X,s0),
    inference(resolution,[],['198','199']) ).

cnf('201',plain,
    ( ~ node42(X,Y,Z)
    | node41(X,Y,Z)
    | node40(X,Y)
    | node39(X,Y)
    | node38(X,Y)
    | node37(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_76]) ).

cnf('202',plain,
    ( ~ m_state_v_RRM(X,Y,c_clockwise)
    | ~ m_state_v_RRM(X,Y,c_idle) ),
    inference(cnf_transformation,[],[m_state_33]) ).

cnf('203',plain,
    ~ m_state_v_RRM(X,s0,c_clockwise),
    inference(resolution,[],['202','197']) ).

cnf('204',plain,
    ( m_state_v_RRM(X,Y,c_clockwise)
    | ~ node40(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_68]) ).

cnf('205',plain,
    ~ node40(X3,s0),
    inference(resolution,[],['203','204']) ).

cnf('206',plain,
    ( m_state_v_RRM(X,Y,c_counterclock)
    | ~ node38(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_62]) ).

cnf('207',plain,
    ~ node38(X3,s0),
    inference(resolution,[],['198','206']) ).

cnf('208',plain,
    ( m_state_v_RRM(X,Y,c_counterclock)
    | ~ node37(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_59]) ).

cnf('209',plain,
    ~ node37(X3,s0),
    inference(resolution,[],['198','208']) ).

cnf('210',plain,
    ( ~ node42(X,s0,Y)
    | node41(X,s0,Y) ),
    inference(resolution,[then_simplify],['200','201','205','207','209']) ).

cnf('211',plain,
    ( node42(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_77]) ).

cnf('212',plain,
    ( node42(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['211','53','54']) ).

cnf('213',plain,
    node42(c_s,s0,s1),
    inference(resolution,[],['212','7']) ).

cnf('214',plain,
    node41(c_s,s0,s1),
    inference(resolution,[],['210','213']) ).

cnf('215',plain,
    ( ~ node41(X,Y,Z)
    | ~ m_state_v_angle(X,Y,U)
    | m_state_v_angle(X,Z,U) ),
    inference(cnf_transformation,[],[m_Sensor_70]) ).

cnf('216',plain,
    m_state_v_angle(X,s0,c_arm1totable),
    inference(cnf_transformation,[],[m_state_88]) ).

cnf('217',plain,
    ( ~ node41(X,s0,Y)
    | m_state_v_angle(X,Y,c_arm1totable) ),
    inference(resolution,[],['215','216']) ).

cnf('218',plain,
    m_state_v_angle(c_s,s1,c_arm1totable),
    inference(resolution,[],['214','217']) ).

cnf('219',plain,
    ( ~ m_state_v_angle(X,Y,c_arm1topress)
    | ~ m_state_v_angle(X,Y,c_arm1totable) ),
    inference(cnf_transformation,[],[m_state_54]) ).

cnf('220',plain,
    ~ m_state_v_angle(c_s,s1,c_arm1topress),
    inference(resolution,[],['218','219']) ).

cnf('221',plain,
    ( m_state_v_angle(X,Y,c_arm1topress)
    | ~ node129(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_40]) ).

cnf('222',plain,
    ~ node129(c_s,s1),
    inference(resolution,[],['220','221']) ).

cnf('223',plain,
    ( ~ node32(X,Y,Z)
    | node31(X,Y,Z)
    | m_state_v_A1M(X,Y,c_retract)
    | node30(X,Y)
    | node29(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_45]) ).

cnf('224',plain,
    ( m_state_v_A1M(X,Y,c_extend)
    | ~ node30(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_38]) ).

cnf('225',plain,
    ~ node30(X3,s0),
    inference(resolution,[],['179','224']) ).

cnf('226',plain,
    ( m_state_v_A1M(X,Y,c_extend)
    | ~ node29(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_36]) ).

cnf('227',plain,
    ~ node29(X3,s0),
    inference(resolution,[],['179','226']) ).

cnf('228',plain,
    ( ~ node32(X,s0,Y)
    | node31(X,s0,Y) ),
    inference(resolution,[then_simplify],['25','223','225','227']) ).

cnf('229',plain,
    ( node32(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_46]) ).

cnf('230',plain,
    ( node32(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['229','53','54']) ).

cnf('231',plain,
    node32(c_s,s0,s1),
    inference(resolution,[],['230','7']) ).

cnf('232',plain,
    node31(c_s,s0,s1),
    inference(resolution,[],['228','231']) ).

cnf('233',plain,
    ( ~ node31(X,Y,Z)
    | ~ m_state_v_a1ext(X,Y,U)
    | m_state_v_a1ext(X,Z,U) ),
    inference(cnf_transformation,[],[m_Sensor_40]) ).

cnf('234',plain,
    ( ~ node31(X,s0,Y)
    | m_state_v_a1ext(X,Y,c_retracted) ),
    inference(resolution,[],['233','169']) ).

cnf('235',plain,
    m_state_v_a1ext(c_s,s1,c_retracted),
    inference(resolution,[],['232','234']) ).

cnf('236',plain,
    ~ m_state_v_a1ext(c_s,s1,c_a1ip),
    inference(resolution,[],['235','168']) ).

cnf('237',plain,
    ~ node127(c_s,s1),
    inference(resolution,[],['236','171']) ).

cnf('238',plain,
    ( ~ m_state_v_a1ext(X,Y,c_ot)
    | ~ m_state_v_a1ext(X,Y,c_retracted) ),
    inference(cnf_transformation,[],[m_state_46]) ).

cnf('239',plain,
    ~ m_state_v_a1ext(c_s,s1,c_ot),
    inference(resolution,[],['235','238']) ).

cnf('240',plain,
    ( m_state_v_a1ext(X,Y,c_ot)
    | ~ node126(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_30]) ).

cnf('241',plain,
    ~ node126(c_s,s1),
    inference(resolution,[],['239','240']) ).

cnf('242',plain,
    ( m_state_v_a1ext(X,Y,c_a1ip)
    | ~ node125(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_28]) ).

cnf('243',plain,
    ~ node125(c_s,s1),
    inference(resolution,[],['236','242']) ).

cnf('244',plain,
    ( m_state_v_a1ext(X,Y,c_ot)
    | ~ node124(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_25]) ).

cnf('245',plain,
    ~ node124(c_s,s1),
    inference(resolution,[],['239','244']) ).

cnf('246',plain,
    ( ~ m_state_v_PM(X,Y,c_idle)
    | ~ m_state_v_PM(X,Y,c_up) ),
    inference(cnf_transformation,[],[m_state_29]) ).

cnf('247',plain,
    m_state_v_PM(X,s0,c_idle),
    inference(cnf_transformation,[],[m_state_100]) ).

cnf('248',plain,
    ~ m_state_v_PM(X,s0,c_up),
    inference(resolution,[],['246','247']) ).

cnf('249',plain,
    ( m_state_v_PM(X,Y,c_up)
    | ~ node53(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_106]) ).

cnf('250',plain,
    ~ node53(X,s0),
    inference(resolution,[],['248','249']) ).

cnf('251',plain,
    ( ~ node56(X,Y,Z)
    | node55(X,Y,Z)
    | node54(X,Y)
    | node53(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_114]) ).

cnf('252',plain,
    ( ~ node54(X,Y)
    | m_state_v_midPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_107]) ).

cnf('253',plain,
    ~ node54(X3,s0),
    inference(resolution,[],['252','185']) ).

cnf('254',plain,
    ( ~ node56(X,s0,Y)
    | node55(X,s0,Y) ),
    inference(resolution,[then_simplify],['250','251','253']) ).

cnf('255',plain,
    ( node56(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_115]) ).

cnf('256',plain,
    ( node56(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['255','53','54']) ).

cnf('257',plain,
    node56(c_s,s0,s1),
    inference(resolution,[],['256','7']) ).

cnf('258',plain,
    node55(c_s,s0,s1),
    inference(resolution,[],['254','257']) ).

cnf('259',plain,
    ( ~ node55(X,Y,Z)
    | ~ m_state_v_midPosP(X,Z)
    | m_state_v_midPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_111]) ).

cnf('260',plain,
    ( ~ node55(X,s0,Y)
    | ~ m_state_v_midPosP(X,Y) ),
    inference(resolution,[],['259','185']) ).

cnf('261',plain,
    ~ m_state_v_midPosP(c_s,s1),
    inference(resolution,[],['258','260']) ).

cnf('262',plain,
    ~ node123(c_s,s1),
    inference(resolution,[],['261','184']) ).

cnf('263',plain,
    ~ node122(c_s,s1),
    inference(resolution,[],['61','187']) ).

cnf('264',plain,
    ( node130(c_s,s1,s2)
    | node128(c_s,s1) ),
    inference(resolution,[then_simplify],['195','163','222','237','241','243','245','262','263']) ).

cnf('265',plain,
    ~ node128(c_s,s1),
    inference(resolution,[],['193','166']) ).

cnf('266',plain,
    node130(c_s,s1,s2),
    inference(simplify,[],['264','265']) ).

cnf('267',plain,
    ~ m_state_v_A1M(c_s,s2,c_retract),
    inference(resolution,[],['194','266']) ).

cnf('268',plain,
    ~ node1(c_s,s2),
    inference(resolution,[],['267','26']) ).

cnf('269',plain,
    node3(c_s,s2,s3),
    inference(simplify,[then_simplify],['115','157','268']) ).

cnf('270',plain,
    ~ node1(c_s,s1),
    inference(resolution,[],['193','26']) ).

cnf('271',plain,
    ( ~ m_state_v_pfl(X,Y)
    | ~ node2(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_6]) ).

cnf('272',plain,
    ~ node2(c_s,s1),
    inference(resolution,[],['138','271']) ).

cnf('273',plain,
    ( ~ node4(c_s,s1,X)
    | node3(c_s,s1,X) ),
    inference(resolution,[then_simplify],['270','28','272']) ).

cnf('274',plain,
    node4(c_s,s1,s2),
    inference(resolution,[],['36','20']) ).

cnf('275',plain,
    node3(c_s,s1,s2),
    inference(resolution,[],['273','274']) ).

cnf('276',plain,
    m_state_v_tl(c_s,s1),
    inference(resolution,[],['38','41']) ).

cnf('277',plain,
    m_state_v_tl(c_s,s2),
    inference(resolution,[then_simplify],['275','39','276']) ).

cnf('278',plain,
    m_state_v_tl(c_s,s3),
    inference(resolution,[then_simplify],['269','39','277']) ).

cnf('279',plain,
    ~ node172(c_s,s3),
    inference(resolution,[],['278','43']) ).

cnf('280',plain,
    ( ~ m_state_v_TRM(X,Y,c_clockwise)
    | ~ m_state_v_TRM(X,Y,c_counterclockwise) ),
    inference(cnf_transformation,[],[m_state_40]) ).

cnf('281',plain,
    ~ m_state_v_TRM(c_s,s1,c_counterclockwise),
    inference(resolution,[],['69','280']) ).

cnf('282',plain,
    ( m_state_v_TRM(X,Y,c_counterclockwise)
    | ~ node167(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_13]) ).

cnf('283',plain,
    ~ node167(c_s,s1),
    inference(resolution,[],['281','282']) ).

cnf('284',plain,
    ( ~ node169(X,Y,Z)
    | node168(X,Y,Z)
    | node167(X,Y)
    | node166(X,Y)
    | node165(X,Y)
    | node164(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_21]) ).

cnf('285',plain,
    ( ~ node166(X,Y)
    | ~ m_state_v_tl(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_12]) ).

cnf('286',plain,
    ~ node166(c_s,s1),
    inference(resolution,[],['42','285']) ).

cnf('287',plain,
    ( ~ m_state_v_TRM(X,Y,c_counterclockwise)
    | ~ m_state_v_TRM(X,Y,c_idle) ),
    inference(cnf_transformation,[],[m_state_42]) ).

cnf('288',plain,
    ~ m_state_v_TRM(X,s0,c_counterclockwise),
    inference(resolution,[],['287','10']) ).

cnf('289',plain,
    ( ~ node28(X,Y,Z)
    | node27(X,Y,Z)
    | m_state_v_TRM(X,Y,c_clockwise)
    | m_state_v_TRM(X,Y,c_counterclockwise) ),
    inference(cnf_transformation,[],[m_Sensor_34]) ).

cnf('290',plain,
    ~ m_state_v_TRM(X3,s0,c_clockwise),
    inference(resolution,[],['70','10']) ).

cnf('291',plain,
    ( ~ node28(X,s0,Y)
    | node27(X,s0,Y) ),
    inference(resolution,[then_simplify],['288','289','290']) ).

cnf('292',plain,
    ( node28(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_35]) ).

cnf('293',plain,
    ( node28(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['292','53','54']) ).

cnf('294',plain,
    node28(c_s,s0,s1),
    inference(resolution,[],['293','7']) ).

cnf('295',plain,
    node27(c_s,s0,s1),
    inference(resolution,[],['291','294']) ).

cnf('296',plain,
    ( ~ node27(X,Y,Z)
    | ~ m_state_v_maxRot(X,Z)
    | m_state_v_maxRot(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_31]) ).

cnf('297',plain,
    ~ m_state_v_maxRot(X,s0),
    inference(cnf_transformation,[],[m_state_85]) ).

cnf('298',plain,
    ( ~ node27(X,s0,Y)
    | ~ m_state_v_maxRot(X,Y) ),
    inference(resolution,[],['296','297']) ).

cnf('299',plain,
    ~ m_state_v_maxRot(c_s,s1),
    inference(resolution,[],['295','298']) ).

cnf('300',plain,
    ( ~ node165(X,Y)
    | m_state_v_maxRot(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_7]) ).

cnf('301',plain,
    ~ node165(c_s,s1),
    inference(resolution,[],['299','300']) ).

cnf('302',plain,
    ( m_state_v_TRM(X,Y,c_idle)
    | ~ node164(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_4]) ).

cnf('303',plain,
    ~ node164(c_s,s1),
    inference(resolution,[],['71','302']) ).

cnf('304',plain,
    ( ~ node169(c_s,s1,X)
    | node168(c_s,s1,X) ),
    inference(resolution,[then_simplify],['283','284','286','301','303']) ).

cnf('305',plain,
    node169(c_s,s1,s2),
    inference(resolution,[],['65','20']) ).

cnf('306',plain,
    node168(c_s,s1,s2),
    inference(resolution,[],['304','305']) ).

cnf('307',plain,
    ( ~ node168(X,Y,Z)
    | ~ m_state_v_TRM(X,Y,U)
    | m_state_v_TRM(X,Z,U) ),
    inference(cnf_transformation,[],[m_ERTable_15]) ).

cnf('308',plain,
    ( ~ node168(c_s,s1,X)
    | m_state_v_TRM(c_s,X,c_clockwise) ),
    inference(resolution,[],['69','307']) ).

cnf('309',plain,
    m_state_v_TRM(c_s,s2,c_clockwise),
    inference(resolution,[],['306','308']) ).

cnf('310',plain,
    node26(c_s,s2,s3),
    inference(resolution,[],['87','98']) ).

cnf('311',plain,
    ( ~ m_state_v_TRM(c_s,s2,c_clockwise)
    | ~ m_state_v_minRot(c_s,s3) ),
    inference(resolution,[],['310','91']) ).

cnf('312',plain,
    ~ m_state_v_minRot(c_s,s3),
    inference(resolution,[],['309','311']) ).

cnf('313',plain,
    ~ node170(c_s,s3),
    inference(resolution,[],['312','94']) ).

cnf('314',plain,
    ( ~ node175(c_s,s3,X)
    | node174(c_s,s3,X) ),
    inference(resolution,[then_simplify],['103','22','113','279','313']) ).

cnf('315',plain,
    succ(s3,s4),
    inference(cnf_transformation,[],[bound4]) ).

cnf('316',plain,
    trans(s3,s4),
    inference(resolution,[],['5','315']) ).

cnf('317',plain,
    node175(c_s,s3,s4),
    inference(resolution,[],['4','316']) ).

cnf('318',plain,
    node174(c_s,s3,s4),
    inference(resolution,[],['314','317']) ).

cnf('319',plain,
    ~ m_state_v_TEM(c_s,s3,c_down),
    inference(resolution,[],['100','45']) ).

cnf('320',plain,
    ( ~ node174(X,Y,Z)
    | ~ m_state_v_TEM(X,Z,U)
    | m_state_v_TEM(X,Y,U) ),
    inference(cnf_transformation,[],[m_ERTable_38]) ).

cnf('321',plain,
    ( ~ node174(c_s,s3,X)
    | ~ m_state_v_TEM(c_s,X,c_down) ),
    inference(resolution,[],['319','320']) ).

cnf('322',plain,
    ~ m_state_v_TEM(c_s,s4,c_down),
    inference(resolution,[],['318','321']) ).

cnf('323',plain,
    ( ~ node174(c_s,s4,X)
    | ~ m_state_v_TEM(c_s,X,c_down) ),
    inference(resolution,[],['322','320']) ).

cnf('324',plain,
    ( ~ node174(c_s,s3,X)
    | ~ m_state_v_TEM(c_s,X,c_up) ),
    inference(resolution,[],['101','320']) ).

cnf('325',plain,
    ~ m_state_v_TEM(c_s,s4,c_up),
    inference(resolution,[],['318','324']) ).

cnf('326',plain,
    ~ node171(c_s,s4),
    inference(resolution,[],['325','102']) ).

cnf('327',plain,
    node24(c_s,s3,s4),
    inference(resolution,[],['105','316']) ).

cnf('328',plain,
    ( ~ node24(X,Y,Z)
    | node23(X,Y,Z)
    | m_state_v_TEM(X,Y,c_down)
    | m_state_v_TEM(X,Y,c_up) ),
    inference(cnf_transformation,[],[m_Sensor_22]) ).

cnf('329',plain,
    ( m_state_v_TEM(c_s,s3,c_up)
    | node23(c_s,s3,s4)
    | m_state_v_TEM(c_s,s3,c_down) ),
    inference(resolution,[],['327','328']) ).

cnf('330',plain,
    ~ m_state_v_TEM(c_s,s3,c_up),
    inference(resolution,[],['100','49']) ).

cnf('331',plain,
    node23(c_s,s3,s4),
    inference(resolution,[then_simplify],['319','329','330']) ).

cnf('332',plain,
    ( ~ node23(X,Y,Z)
    | ~ m_state_v_botPos(X,Z)
    | m_state_v_botPos(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_19]) ).

cnf('333',plain,
    ~ m_state_v_botPos(c_s,s3),
    inference(resolution,[],['80','110']) ).

cnf('334',plain,
    ~ m_state_v_botPos(c_s,s4),
    inference(resolution,[then_simplify],['331','332','333']) ).

cnf('335',plain,
    ~ node173(c_s,s4),
    inference(resolution,[],['334','112']) ).

cnf('336',plain,
    ( node159(X,Y,Z)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Robot_186]) ).

cnf('337',plain,
    ( node159(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['336','159','160']) ).

cnf('338',plain,
    node159(c_s,s0,s1),
    inference(resolution,[],['337','7']) ).

cnf('339',plain,
    ( ~ node159(X,Y,Z)
    | node158(X,Y,Z)
    | node157(X,Y)
    | node156(X,Y)
    | node155(X,Y)
    | node154(X,Y)
    | node153(X,Y)
    | node152(X,Y)
    | node151(X,Y)
    | node150(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_185]) ).

cnf('340',plain,
    ( m_state_v_RRM(X,Y,c_clockwise)
    | ~ node157(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_171]) ).

cnf('341',plain,
    ~ node157(X,s0),
    inference(resolution,[],['203','340']) ).

cnf('342',plain,
    ( m_state_v_A1Mag(X,Y,c_on)
    | ~ node156(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_164]) ).

cnf('343',plain,
    ~ node156(X3,s0),
    inference(resolution,[],['175','342']) ).

cnf('344',plain,
    ( m_state_v_A1Mag(X,Y,c_on)
    | ~ node155(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_156]) ).

cnf('345',plain,
    ~ node155(X3,s0),
    inference(resolution,[],['175','344']) ).

cnf('346',plain,
    ( m_state_v_A1Mag(X,Y,c_on)
    | ~ node154(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_148]) ).

cnf('347',plain,
    ~ node154(X3,s0),
    inference(resolution,[],['175','346']) ).

cnf('348',plain,
    ( m_state_v_A1M(X,Y,c_retract)
    | ~ node153(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_141]) ).

cnf('349',plain,
    ~ node153(X3,s0),
    inference(resolution,[],['25','348']) ).

cnf('350',plain,
    ( ~ m_state_v_A2M(X,Y,c_idle)
    | ~ m_state_v_A2M(X,Y,c_retract) ),
    inference(cnf_transformation,[],[m_state_10]) ).

cnf('351',plain,
    m_state_v_A2M(X,s0,c_idle),
    inference(cnf_transformation,[],[m_state_93]) ).

cnf('352',plain,
    ~ m_state_v_A2M(X,s0,c_retract),
    inference(resolution,[],['350','351']) ).

cnf('353',plain,
    ( m_state_v_A2M(X,Y,c_retract)
    | ~ node152(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_138]) ).

cnf('354',plain,
    ~ node152(X3,s0),
    inference(resolution,[],['352','353']) ).

cnf('355',plain,
    ( m_state_v_A2M(X,Y,c_retract)
    | ~ node151(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_135]) ).

cnf('356',plain,
    ~ node151(X3,s0),
    inference(resolution,[],['352','355']) ).

cnf('357',plain,
    ( m_state_v_A1M(X,Y,c_retract)
    | ~ node150(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_132]) ).

cnf('358',plain,
    ~ node150(X3,s0),
    inference(resolution,[],['25','357']) ).

cnf('359',plain,
    ( ~ node159(X,s0,Y)
    | node158(X,s0,Y) ),
    inference(resolution,[then_simplify],['339','341','343','345','347','349','354','356','358']) ).

cnf('360',plain,
    node158(c_s,s0,s1),
    inference(resolution,[],['338','359']) ).

cnf('361',plain,
    ( ~ node158(X,Y,Z)
    | ~ m_state_v_RRM(X,Z,U)
    | m_state_v_RRM(X,Y,U) ),
    inference(cnf_transformation,[],[m_Robot_176]) ).

cnf('362',plain,
    ( ~ node158(X,s0,Y)
    | ~ m_state_v_RRM(X,Y,c_counterclock) ),
    inference(resolution,[],['361','198']) ).

cnf('363',plain,
    ~ m_state_v_RRM(c_s,s1,c_counterclock),
    inference(resolution,[],['360','362']) ).

cnf('364',plain,
    ~ node37(c_s,s1),
    inference(resolution,[],['363','208']) ).

cnf('365',plain,
    ( ~ m_state_v_angle_status(X,Y,c_arm1stoppedatpress)
    | ~ m_state_v_angle_status(X,Y,c_arm1stoppedattable) ),
    inference(cnf_transformation,[],[m_state_64]) ).

cnf('366',plain,
    ( node48(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_93]) ).

cnf('367',plain,
    ( node48(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['366','53','54']) ).

cnf('368',plain,
    node48(c_s,s0,s1),
    inference(resolution,[],['367','7']) ).

cnf('369',plain,
    ( ~ node48(X,Y,Z)
    | ~ m_state_v_RRM(X,Y,c_idle)
    | ~ m_state_v_angle(X,Y,c_arm1totable)
    | m_state_v_angle_status(X,Z,c_arm1stoppedattable) ),
    inference(cnf_transformation,[],[m_Sensor_88]) ).

cnf('370',plain,
    m_state_v_RRM(X0,s0,c_idle),
    inference(cnf_transformation,[],[m_state_92]) ).

cnf('371',plain,
    m_state_v_angle(X0,s0,c_arm1totable),
    inference(cnf_transformation,[],[m_state_88]) ).

cnf('372',plain,
    m_state_v_angle_status(c_s,s1,c_arm1stoppedattable),
    inference(resolution,[then_simplify],['368','369','370','371']) ).

cnf('373',plain,
    ~ m_state_v_angle_status(c_s,s1,c_arm1stoppedatpress),
    inference(resolution,[],['365','372']) ).

cnf('374',plain,
    ( m_state_v_angle_status(X,Y,c_arm1stoppedatpress)
    | ~ node40(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_69]) ).

cnf('375',plain,
    ~ node40(c_s,s1),
    inference(resolution,[],['373','374']) ).

cnf('376',plain,
    ( ~ m_state_v_angle_status(X,Y,c_arm2stoppedatbelt)
    | ~ m_state_v_angle_status(X,Y,c_arm1stoppedattable) ),
    inference(cnf_transformation,[],[m_state_63]) ).

cnf('377',plain,
    ~ m_state_v_angle_status(c_s,s1,c_arm2stoppedatbelt),
    inference(resolution,[],['376','372']) ).

cnf('378',plain,
    ( m_state_v_angle_status(X,Y,c_arm2stoppedatbelt)
    | ~ node39(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_66]) ).

cnf('379',plain,
    ~ node39(c_s,s1),
    inference(resolution,[],['377','378']) ).

cnf('380',plain,
    ( ~ m_state_v_angle_status(X,Y,c_arm2stoppedatpress)
    | ~ m_state_v_angle_status(X,Y,c_arm1stoppedattable) ),
    inference(cnf_transformation,[],[m_state_61]) ).

cnf('381',plain,
    ~ m_state_v_angle_status(c_s,s1,c_arm2stoppedatpress),
    inference(resolution,[],['380','372']) ).

cnf('382',plain,
    ( m_state_v_angle_status(X,Y,c_arm2stoppedatpress)
    | ~ node38(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_63]) ).

cnf('383',plain,
    ~ node38(c_s,s1),
    inference(resolution,[],['381','382']) ).

cnf('384',plain,
    ( ~ node42(c_s,s1,X)
    | node41(c_s,s1,X) ),
    inference(resolution,[then_simplify],['364','201','375','379','383']) ).

cnf('385',plain,
    node42(c_s,s1,s2),
    inference(resolution,[],['212','20']) ).

cnf('386',plain,
    node41(c_s,s1,s2),
    inference(resolution,[],['384','385']) ).

cnf('387',plain,
    ( ~ node41(c_s,s1,X)
    | m_state_v_angle(c_s,X,c_arm1totable) ),
    inference(resolution,[],['218','215']) ).

cnf('388',plain,
    m_state_v_angle(c_s,s2,c_arm1totable),
    inference(resolution,[],['386','387']) ).

cnf('389',plain,
    ( ~ node131(X,Y,Z)
    | ~ m_state_v_A2Mag(X,Y,c_off)
    | ~ m_state_v_A1Mag(X,Y,c_off)
    | ~ m_state_v_RRM(X,Y,c_idle)
    | ~ m_state_v_a2ext(X,Y,c_retracted)
    | ~ m_state_v_A2M(X,Y,c_idle)
    | ~ m_state_v_a1ext(X,Y,c_retracted)
    | ~ m_state_v_A1M(X,Y,c_idle)
    | ~ m_state_v_angle(X,Y,c_arm1totable)
    | m_state_v_A1M(X,Z,c_extend)
    | ~ m_state_v_maxRot(X,Y)
    | ~ m_state_v_topPos(X,Y)
    | ~ m_state_v_tl(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_45]) ).

cnf('390',plain,
    ( node149(X,Y,Z)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Robot_130]) ).

cnf('391',plain,
    ( node149(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['390','159','160']) ).

cnf('392',plain,
    node149(c_s,s1,s2),
    inference(resolution,[],['391','20']) ).

cnf('393',plain,
    ( ~ node149(X,Y,Z)
    | node148(X,Y,Z)
    | node147(X,Y)
    | node146(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_129]) ).

cnf('394',plain,
    ( ~ node36(X,Y,Z)
    | node35(X,Y,Z)
    | m_state_v_A2M(X,Y,c_retract)
    | node34(X,Y)
    | node33(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_56]) ).

cnf('395',plain,
    ( ~ m_state_v_A2M(X,Y,c_extend)
    | ~ m_state_v_A2M(X,Y,c_idle) ),
    inference(cnf_transformation,[],[m_state_9]) ).

cnf('396',plain,
    ~ m_state_v_A2M(X,s0,c_extend),
    inference(resolution,[],['395','351']) ).

cnf('397',plain,
    ( m_state_v_A2M(X,Y,c_extend)
    | ~ node34(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_49]) ).

cnf('398',plain,
    ~ node34(X3,s0),
    inference(resolution,[],['396','397']) ).

cnf('399',plain,
    ( m_state_v_A2M(X,Y,c_extend)
    | ~ node33(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_47]) ).

cnf('400',plain,
    ~ node33(X3,s0),
    inference(resolution,[],['396','399']) ).

cnf('401',plain,
    ( ~ node36(X,s0,Y)
    | node35(X,s0,Y) ),
    inference(resolution,[then_simplify],['352','394','398','400']) ).

cnf('402',plain,
    ( node36(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_57]) ).

cnf('403',plain,
    ( node36(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['402','53','54']) ).

cnf('404',plain,
    node36(c_s,s0,s1),
    inference(resolution,[],['403','7']) ).

cnf('405',plain,
    node35(c_s,s0,s1),
    inference(resolution,[],['401','404']) ).

cnf('406',plain,
    ( ~ node35(X,Y,Z)
    | ~ m_state_v_a2ext(X,Y,U)
    | m_state_v_a2ext(X,Z,U) ),
    inference(cnf_transformation,[],[m_Sensor_51]) ).

cnf('407',plain,
    m_state_v_a2ext(X,s0,c_retracted),
    inference(cnf_transformation,[],[m_state_91]) ).

cnf('408',plain,
    ( ~ node35(X,s0,Y)
    | m_state_v_a2ext(X,Y,c_retracted) ),
    inference(resolution,[],['406','407']) ).

cnf('409',plain,
    m_state_v_a2ext(c_s,s1,c_retracted),
    inference(resolution,[],['405','408']) ).

cnf('410',plain,
    ( ~ m_state_v_a2ext(X,Y,c_ob)
    | ~ m_state_v_a2ext(X,Y,c_retracted) ),
    inference(cnf_transformation,[],[m_state_50]) ).

cnf('411',plain,
    ~ m_state_v_a2ext(c_s,s1,c_ob),
    inference(resolution,[],['409','410']) ).

cnf('412',plain,
    ( m_state_v_a2ext(X,Y,c_ob)
    | ~ node147(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_124]) ).

cnf('413',plain,
    ~ node147(c_s,s1),
    inference(resolution,[],['411','412']) ).

cnf('414',plain,
    ( ~ m_state_v_a2ext(X,Y,c_a2ip)
    | ~ m_state_v_a2ext(X,Y,c_retracted) ),
    inference(cnf_transformation,[],[m_state_49]) ).

cnf('415',plain,
    ~ m_state_v_a2ext(c_s,s1,c_a2ip),
    inference(resolution,[],['409','414']) ).

cnf('416',plain,
    ( m_state_v_a2ext(X,Y,c_a2ip)
    | ~ node146(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_121]) ).

cnf('417',plain,
    ~ node146(c_s,s1),
    inference(resolution,[],['415','416']) ).

cnf('418',plain,
    node148(c_s,s1,s2),
    inference(resolution,[then_simplify],['392','393','413','417']) ).

cnf('419',plain,
    ( ~ node148(X,Y,Z)
    | ~ m_state_v_A2Mag(X,Z,U)
    | m_state_v_A2Mag(X,Y,U) ),
    inference(cnf_transformation,[],[m_Robot_126]) ).

cnf('420',plain,
    ( ~ m_state_v_A2Mag(c_s,s2,X)
    | m_state_v_A2Mag(c_s,s1,X) ),
    inference(resolution,[],['418','419']) ).

cnf('421',plain,
    node149(c_s,s0,s1),
    inference(resolution,[],['391','7']) ).

cnf('422',plain,
    ( m_state_v_A2M(X,Y,c_extend)
    | ~ node147(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_123]) ).

cnf('423',plain,
    ~ node147(X,s0),
    inference(resolution,[],['396','422']) ).

cnf('424',plain,
    ( m_state_v_A2M(X,Y,c_extend)
    | ~ node146(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_120]) ).

cnf('425',plain,
    ~ node146(X3,s0),
    inference(resolution,[],['396','424']) ).

cnf('426',plain,
    ( ~ node149(X,s0,Y)
    | node148(X,s0,Y) ),
    inference(resolution,[then_simplify],['393','423','425']) ).

cnf('427',plain,
    node148(c_s,s0,s1),
    inference(resolution,[],['421','426']) ).

cnf('428',plain,
    ( ~ m_state_v_A2Mag(X,Y,c_off)
    | ~ m_state_v_A2Mag(X,Y,c_on) ),
    inference(cnf_transformation,[],[m_state_12]) ).

cnf('429',plain,
    m_state_v_A2Mag(X,s0,c_off),
    inference(cnf_transformation,[],[m_state_95]) ).

cnf('430',plain,
    ~ m_state_v_A2Mag(X,s0,c_on),
    inference(resolution,[],['428','429']) ).

cnf('431',plain,
    ( ~ node148(X,s0,Y)
    | ~ m_state_v_A2Mag(X,Y,c_on) ),
    inference(resolution,[],['419','430']) ).

cnf('432',plain,
    ~ m_state_v_A2Mag(c_s,s1,c_on),
    inference(resolution,[],['427','431']) ).

cnf('433',plain,
    ~ m_state_v_A2Mag(c_s,s2,c_on),
    inference(resolution,[],['420','432']) ).

cnf('434',plain,
    ( m_state_v_A2Mag(X,Y,c_off)
    | m_state_v_A2Mag(X,Y,c_on) ),
    inference(cnf_transformation,[],[m_state_11]) ).

cnf('435',plain,
    m_state_v_A2Mag(c_s,s2,c_off),
    inference(resolution,[],['433','434']) ).

cnf('436',plain,
    ( node145(X,Y,Z)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Robot_118]) ).

cnf('437',plain,
    ( node145(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['436','159','160']) ).

cnf('438',plain,
    node145(c_s,s1,s2),
    inference(resolution,[],['437','20']) ).

cnf('439',plain,
    ( ~ node145(X,Y,Z)
    | node144(X,Y,Z)
    | node143(X,Y)
    | node142(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_117]) ).

cnf('440',plain,
    ( m_state_v_a1ext(X,Y,c_a1ip)
    | ~ node143(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_112]) ).

cnf('441',plain,
    ~ node143(c_s,s1),
    inference(resolution,[],['236','440']) ).

cnf('442',plain,
    ( m_state_v_a1ext(X,Y,c_ot)
    | ~ node142(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_109]) ).

cnf('443',plain,
    ~ node142(c_s,s1),
    inference(resolution,[],['239','442']) ).

cnf('444',plain,
    node144(c_s,s1,s2),
    inference(resolution,[then_simplify],['438','439','441','443']) ).

cnf('445',plain,
    ( ~ node144(X,Y,Z)
    | ~ m_state_v_A1Mag(X,Z,U)
    | m_state_v_A1Mag(X,Y,U) ),
    inference(cnf_transformation,[],[m_Robot_114]) ).

cnf('446',plain,
    ( ~ m_state_v_A1Mag(c_s,s2,X)
    | m_state_v_A1Mag(c_s,s1,X) ),
    inference(resolution,[],['444','445']) ).

cnf('447',plain,
    ( ~ node144(X,Y,Z)
    | ~ m_state_v_A1Mag(X,Y,U)
    | m_state_v_A1Mag(X,Z,U) ),
    inference(cnf_transformation,[],[m_Robot_113]) ).

cnf('448',plain,
    ( m_state_v_A1Mag(X,Y,c_off)
    | m_state_v_A1Mag(X,Y,c_on) ),
    inference(cnf_transformation,[],[m_state_5]) ).

cnf('449',plain,
    m_state_v_A1Mag(X,s0,c_off),
    inference(resolution,[],['175','448']) ).

cnf('450',plain,
    ( ~ node144(X,s0,Y)
    | m_state_v_A1Mag(X,Y,c_off) ),
    inference(resolution,[],['447','449']) ).

cnf('451',plain,
    node145(c_s,s0,s1),
    inference(resolution,[],['437','7']) ).

cnf('452',plain,
    ( m_state_v_A1M(X,Y,c_extend)
    | ~ node143(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_111]) ).

cnf('453',plain,
    ~ node143(X3,s0),
    inference(resolution,[],['179','452']) ).

cnf('454',plain,
    ( m_state_v_A1M(X,Y,c_extend)
    | ~ node142(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_108]) ).

cnf('455',plain,
    ~ node142(X3,s0),
    inference(resolution,[],['179','454']) ).

cnf('456',plain,
    node144(c_s,s0,s1),
    inference(resolution,[then_simplify],['451','439','453','455']) ).

cnf('457',plain,
    m_state_v_A1Mag(c_s,s1,c_off),
    inference(resolution,[],['450','456']) ).

cnf('458',plain,
    ~ m_state_v_A1Mag(c_s,s1,c_on),
    inference(resolution,[],['457','173']) ).

cnf('459',plain,
    ~ m_state_v_A1Mag(c_s,s2,c_on),
    inference(resolution,[],['446','458']) ).

cnf('460',plain,
    m_state_v_A1Mag(c_s,s2,c_off),
    inference(resolution,[],['459','448']) ).

cnf('461',plain,
    ( ~ node158(c_s,s1,X)
    | ~ m_state_v_RRM(c_s,X,c_counterclock) ),
    inference(resolution,[],['363','361']) ).

cnf('462',plain,
    node159(c_s,s1,s2),
    inference(resolution,[],['337','20']) ).

cnf('463',plain,
    ( m_state_v_angle(X,Y,c_arm1topress)
    | ~ node156(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_166]) ).

cnf('464',plain,
    ~ node156(c_s,s1),
    inference(resolution,[],['220','463']) ).

cnf('465',plain,
    ( ~ m_state_v_angle(X,Y,c_arm2todepbelt)
    | ~ m_state_v_angle(X,Y,c_arm1totable) ),
    inference(cnf_transformation,[],[m_state_53]) ).

cnf('466',plain,
    ~ m_state_v_angle(c_s,s1,c_arm2todepbelt),
    inference(resolution,[],['218','465']) ).

cnf('467',plain,
    ( m_state_v_angle(X,Y,c_arm2todepbelt)
    | ~ node155(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_158]) ).

cnf('468',plain,
    ~ node155(c_s,s1),
    inference(resolution,[],['466','467']) ).

cnf('469',plain,
    ( ~ m_state_v_angle(X,Y,c_arm2topress)
    | ~ m_state_v_angle(X,Y,c_arm1totable) ),
    inference(cnf_transformation,[],[m_state_52]) ).

cnf('470',plain,
    ~ m_state_v_angle(c_s,s1,c_arm2topress),
    inference(resolution,[],['218','469']) ).

cnf('471',plain,
    ( m_state_v_angle(X,Y,c_arm2topress)
    | ~ node154(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_150]) ).

cnf('472',plain,
    ~ node154(c_s,s1),
    inference(resolution,[],['470','471']) ).

cnf('473',plain,
    ( m_state_v_angle(X,Y,c_arm1topress)
    | ~ node153(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_140]) ).

cnf('474',plain,
    ~ node153(c_s,s1),
    inference(resolution,[],['220','473']) ).

cnf('475',plain,
    ( m_state_v_angle(X,Y,c_arm2todepbelt)
    | ~ node152(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_137]) ).

cnf('476',plain,
    ~ node152(c_s,s1),
    inference(resolution,[],['466','475']) ).

cnf('477',plain,
    ( m_state_v_angle(X,Y,c_arm2topress)
    | ~ node151(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_134]) ).

cnf('478',plain,
    ~ node151(c_s,s1),
    inference(resolution,[],['470','477']) ).

cnf('479',plain,
    ~ node150(c_s,s1),
    inference(resolution,[],['193','357']) ).

cnf('480',plain,
    ( node158(c_s,s1,s2)
    | node157(c_s,s1) ),
    inference(resolution,[then_simplify],['462','339','464','468','472','474','476','478','479']) ).

cnf('481',plain,
    ( ~ node158(X,s0,Y)
    | ~ m_state_v_RRM(X,Y,c_clockwise) ),
    inference(resolution,[],['361','203']) ).

cnf('482',plain,
    ~ m_state_v_RRM(c_s,s1,c_clockwise),
    inference(resolution,[],['360','481']) ).

cnf('483',plain,
    ~ node157(c_s,s1),
    inference(resolution,[],['482','340']) ).

cnf('484',plain,
    node158(c_s,s1,s2),
    inference(simplify,[],['480','483']) ).

cnf('485',plain,
    ~ m_state_v_RRM(c_s,s2,c_counterclock),
    inference(resolution,[],['461','484']) ).

cnf('486',plain,
    ( m_state_v_RRM(X,Y,c_counterclock)
    | m_state_v_RRM(X,Y,c_clockwise)
    | m_state_v_RRM(X,Y,c_idle) ),
    inference(cnf_transformation,[],[m_state_31]) ).

cnf('487',plain,
    ( ~ node158(c_s,s1,X)
    | ~ m_state_v_RRM(c_s,X,c_clockwise) ),
    inference(resolution,[],['482','361']) ).

cnf('488',plain,
    ~ m_state_v_RRM(c_s,s2,c_clockwise),
    inference(resolution,[],['487','484']) ).

cnf('489',plain,
    m_state_v_RRM(c_s,s2,c_idle),
    inference(resolution,[then_simplify],['485','486','488']) ).

cnf('490',plain,
    ( node141(X,Y,Z)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Robot_106]) ).

cnf('491',plain,
    ( node141(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['490','159','160']) ).

cnf('492',plain,
    node141(c_s,s0,s1),
    inference(resolution,[],['491','7']) ).

cnf('493',plain,
    ( ~ node141(X,Y,Z)
    | node140(X,Y,Z)
    | node139(X,Y)
    | node138(X,Y)
    | node137(X,Y)
    | node136(X,Y)
    | node135(X,Y)
    | node134(X,Y)
    | node133(X,Y)
    | node132(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_105]) ).

cnf('494',plain,
    ( m_state_v_A2M(X,Y,c_retract)
    | ~ node139(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_93]) ).

cnf('495',plain,
    ~ node139(X,s0),
    inference(resolution,[],['352','494']) ).

cnf('496',plain,
    ( m_state_v_A2M(X,Y,c_retract)
    | ~ node138(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_90]) ).

cnf('497',plain,
    ~ node138(X3,s0),
    inference(resolution,[],['352','496']) ).

cnf('498',plain,
    ~ m_state_v_a2ext(X,s0,c_ob),
    inference(resolution,[],['410','407']) ).

cnf('499',plain,
    ( m_state_v_a2ext(X,Y,c_ob)
    | ~ node137(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_86]) ).

cnf('500',plain,
    ~ node137(X3,s0),
    inference(resolution,[],['498','499']) ).

cnf('501',plain,
    ( m_state_v_A2Mag(X,Y,c_on)
    | ~ node136(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_84]) ).

cnf('502',plain,
    ~ node136(X3,s0),
    inference(resolution,[],['430','501']) ).

cnf('503',plain,
    ( m_state_v_A2M(X,Y,c_extend)
    | ~ node135(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_79]) ).

cnf('504',plain,
    ~ node135(X3,s0),
    inference(resolution,[],['396','503']) ).

cnf('505',plain,
    ( m_state_v_A2M(X,Y,c_extend)
    | ~ node134(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_76]) ).

cnf('506',plain,
    ~ node134(X3,s0),
    inference(resolution,[],['396','505']) ).

cnf('507',plain,
    ( ~ node133(X,Y)
    | m_state_v_brl(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_74]) ).

cnf('508',plain,
    ~ m_state_v_brl(X,s0),
    inference(cnf_transformation,[],[m_state_96]) ).

cnf('509',plain,
    ~ node133(X3,s0),
    inference(resolution,[],['507','508']) ).

cnf('510',plain,
    ( m_state_v_A1Mag(X,Y,c_on)
    | ~ node132(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_61]) ).

cnf('511',plain,
    ~ node132(X3,s0),
    inference(resolution,[],['175','510']) ).

cnf('512',plain,
    ( ~ node141(X,s0,Y)
    | node140(X,s0,Y) ),
    inference(resolution,[then_simplify],['493','495','497','500','502','504','506','509','511']) ).

cnf('513',plain,
    node140(c_s,s0,s1),
    inference(resolution,[],['492','512']) ).

cnf('514',plain,
    ( ~ node140(X,Y,Z)
    | ~ m_state_v_A2M(X,Z,U)
    | m_state_v_A2M(X,Y,U) ),
    inference(cnf_transformation,[],[m_Robot_96]) ).

cnf('515',plain,
    ( ~ node140(X,s0,Y)
    | ~ m_state_v_A2M(X,Y,c_retract) ),
    inference(resolution,[],['514','352']) ).

cnf('516',plain,
    ~ m_state_v_A2M(c_s,s1,c_retract),
    inference(resolution,[],['513','515']) ).

cnf('517',plain,
    ( m_state_v_angle(X,Y,c_arm2todepbelt)
    | ~ node34(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_50]) ).

cnf('518',plain,
    ~ node34(c_s,s1),
    inference(resolution,[],['466','517']) ).

cnf('519',plain,
    ( m_state_v_angle(X,Y,c_arm2topress)
    | ~ node33(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_48]) ).

cnf('520',plain,
    ~ node33(c_s,s1),
    inference(resolution,[],['470','519']) ).

cnf('521',plain,
    ( ~ node36(c_s,s1,X)
    | node35(c_s,s1,X) ),
    inference(resolution,[then_simplify],['516','394','518','520']) ).

cnf('522',plain,
    node36(c_s,s1,s2),
    inference(resolution,[],['403','20']) ).

cnf('523',plain,
    node35(c_s,s1,s2),
    inference(resolution,[],['521','522']) ).

cnf('524',plain,
    ( ~ node35(c_s,s1,X)
    | m_state_v_a2ext(c_s,X,c_retracted) ),
    inference(resolution,[],['409','406']) ).

cnf('525',plain,
    m_state_v_a2ext(c_s,s2,c_retracted),
    inference(resolution,[],['523','524']) ).

cnf('526',plain,
    node141(c_s,s1,s2),
    inference(resolution,[],['491','20']) ).

cnf('527',plain,
    ( m_state_v_angle(X,Y,c_arm2todepbelt)
    | ~ node139(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_92]) ).

cnf('528',plain,
    ~ node139(c_s,s1),
    inference(resolution,[],['466','527']) ).

cnf('529',plain,
    ( m_state_v_angle(X,Y,c_arm2topress)
    | ~ node138(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_89]) ).

cnf('530',plain,
    ~ node138(c_s,s1),
    inference(resolution,[],['470','529']) ).

cnf('531',plain,
    ~ node137(c_s,s1),
    inference(resolution,[],['411','499']) ).

cnf('532',plain,
    ( m_state_v_a2ext(X,Y,c_a2ip)
    | ~ node136(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_82]) ).

cnf('533',plain,
    ~ node136(c_s,s1),
    inference(resolution,[],['415','532']) ).

cnf('534',plain,
    ( m_state_v_a2ext(X,Y,c_ob)
    | ~ node135(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_80]) ).

cnf('535',plain,
    ~ node135(c_s,s1),
    inference(resolution,[],['411','534']) ).

cnf('536',plain,
    ( m_state_v_a2ext(X,Y,c_a2ip)
    | ~ node134(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_77]) ).

cnf('537',plain,
    ~ node134(c_s,s1),
    inference(resolution,[],['415','536']) ).

cnf('538',plain,
    ( ~ m_state_v_CVM(X,Y,c_idle)
    | ~ m_state_v_CVM(X,Y,c_up) ),
    inference(cnf_transformation,[],[m_state_21]) ).

cnf('539',plain,
    m_state_v_CVM(X,s0,c_idle),
    inference(cnf_transformation,[],[m_state_111]) ).

cnf('540',plain,
    ~ m_state_v_CVM(X,s0,c_up),
    inference(resolution,[],['538','539']) ).

cnf('541',plain,
    ( m_state_v_CVM(X,Y,c_up)
    | ~ node5(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_13]) ).

cnf('542',plain,
    ~ node5(X,s0),
    inference(resolution,[],['540','541']) ).

cnf('543',plain,
    ( ~ node8(X,Y,Z)
    | node7(X,Y,Z)
    | node6(X,Y)
    | node5(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_22]) ).

cnf('544',plain,
    ( m_state_v_A2M(X,Y,c_retract)
    | ~ node6(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_16]) ).

cnf('545',plain,
    ~ node6(X3,s0),
    inference(resolution,[],['352','544']) ).

cnf('546',plain,
    ( ~ node8(X,s0,Y)
    | node7(X,s0,Y) ),
    inference(resolution,[then_simplify],['542','543','545']) ).

cnf('547',plain,
    ( node8(X,Y,Z)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Communication_23]) ).

cnf('548',plain,
    ( node8(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['547','34','35']) ).

cnf('549',plain,
    node8(c_s,s0,s1),
    inference(resolution,[],['548','7']) ).

cnf('550',plain,
    node7(c_s,s0,s1),
    inference(resolution,[],['546','549']) ).

cnf('551',plain,
    ( ~ node7(X,Y,Z)
    | ~ m_state_v_brl(X,Z)
    | m_state_v_brl(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_19]) ).

cnf('552',plain,
    ( ~ node7(X,s0,Y)
    | ~ m_state_v_brl(X,Y) ),
    inference(resolution,[],['551','508']) ).

cnf('553',plain,
    ~ m_state_v_brl(c_s,s1),
    inference(resolution,[],['550','552']) ).

cnf('554',plain,
    ~ node133(c_s,s1),
    inference(resolution,[],['553','507']) ).

cnf('555',plain,
    ( m_state_v_angle(X,Y,c_arm2topress)
    | ~ node132(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_55]) ).

cnf('556',plain,
    ~ node132(c_s,s1),
    inference(resolution,[],['470','555']) ).

cnf('557',plain,
    node140(c_s,s1,s2),
    inference(resolution,[then_simplify],['526','493','528','530','531','533','535','537','554','556']) ).

cnf('558',plain,
    ( ~ m_state_v_A2M(c_s,s2,X)
    | m_state_v_A2M(c_s,s1,X) ),
    inference(resolution,[],['557','514']) ).

cnf('559',plain,
    ~ m_state_v_A2M(c_s,s2,c_retract),
    inference(resolution,[],['558','516']) ).

cnf('560',plain,
    ( m_state_v_A2M(X,Y,c_extend)
    | m_state_v_A2M(X,Y,c_idle)
    | m_state_v_A2M(X,Y,c_retract) ),
    inference(cnf_transformation,[],[m_state_7]) ).

cnf('561',plain,
    ( ~ node140(X,s0,Y)
    | ~ m_state_v_A2M(X,Y,c_extend) ),
    inference(resolution,[],['514','396']) ).

cnf('562',plain,
    ~ m_state_v_A2M(c_s,s1,c_extend),
    inference(resolution,[],['513','561']) ).

cnf('563',plain,
    ~ m_state_v_A2M(c_s,s2,c_extend),
    inference(resolution,[],['558','562']) ).

cnf('564',plain,
    m_state_v_A2M(c_s,s2,c_idle),
    inference(resolution,[then_simplify],['559','560','563']) ).

cnf('565',plain,
    ( ~ node130(X,s0,Y)
    | ~ m_state_v_A1M(X,Y,c_extend) ),
    inference(resolution,[],['191','179']) ).

cnf('566',plain,
    ~ m_state_v_A1M(c_s,s1,c_extend),
    inference(resolution,[],['190','565']) ).

cnf('567',plain,
    ~ node29(c_s,s1),
    inference(resolution,[],['566','226']) ).

cnf('568',plain,
    ~ m_state_v_A1M(c_s,s1,c_retract),
    inference(resolution,[],['190','192']) ).

cnf('569',plain,
    ( m_state_v_angle(X,Y,c_arm1topress)
    | ~ node30(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_39]) ).

cnf('570',plain,
    ~ node30(c_s,s1),
    inference(resolution,[],['220','569']) ).

cnf('571',plain,
    ( ~ node32(c_s,s1,X)
    | node31(c_s,s1,X) ),
    inference(resolution,[then_simplify],['567','223','568','570']) ).

cnf('572',plain,
    node32(c_s,s1,s2),
    inference(resolution,[],['230','20']) ).

cnf('573',plain,
    node31(c_s,s1,s2),
    inference(resolution,[],['571','572']) ).

cnf('574',plain,
    ( ~ node31(c_s,s1,X)
    | m_state_v_a1ext(c_s,X,c_retracted) ),
    inference(resolution,[],['235','233']) ).

cnf('575',plain,
    m_state_v_a1ext(c_s,s2,c_retracted),
    inference(resolution,[],['573','574']) ).

cnf('576',plain,
    ( m_state_v_A1M(X,Y,c_extend)
    | m_state_v_A1M(X,Y,c_idle)
    | m_state_v_A1M(X,Y,c_retract) ),
    inference(cnf_transformation,[],[m_state_1]) ).

cnf('577',plain,
    ( ~ node130(c_s,s1,X)
    | ~ m_state_v_A1M(c_s,X,c_extend) ),
    inference(resolution,[],['566','191']) ).

cnf('578',plain,
    ~ m_state_v_A1M(c_s,s2,c_extend),
    inference(resolution,[],['577','266']) ).

cnf('579',plain,
    m_state_v_A1M(c_s,s2,c_idle),
    inference(resolution,[then_simplify],['267','576','578']) ).

cnf('580',plain,
    node28(c_s,s1,s2),
    inference(resolution,[],['293','20']) ).

cnf('581',plain,
    ( ~ node28(X,Y,Z)
    | ~ m_state_v_TRM(X,Y,c_clockwise)
    | m_state_v_maxRot(X,Z) ),
    inference(cnf_transformation,[],[m_Sensor_32]) ).

cnf('582',plain,
    ( ~ m_state_v_TRM(c_s,s1,c_clockwise)
    | m_state_v_maxRot(c_s,s2) ),
    inference(resolution,[],['580','581']) ).

cnf('583',plain,
    m_state_v_maxRot(c_s,s2),
    inference(resolution,[],['69','582']) ).

cnf('584',plain,
    ( ~ node131(c_s,s2,X)
    | m_state_v_A1M(c_s,X,c_extend) ),
    inference(resolution,[then_simplify],['388','389','435','460','489','525','564','575','579','583','85','277']) ).

cnf('585',plain,
    node131(c_s,s2,s3),
    inference(resolution,[],['161','98']) ).

cnf('586',plain,
    m_state_v_A1M(c_s,s3,c_extend),
    inference(resolution,[],['584','585']) ).

cnf('587',plain,
    ( ~ m_state_v_A1M(X,Y,c_extend)
    | ~ m_state_v_A1M(X,Y,c_retract) ),
    inference(cnf_transformation,[],[m_state_2]) ).

cnf('588',plain,
    ~ m_state_v_A1M(c_s,s3,c_retract),
    inference(resolution,[],['586','587']) ).

cnf('589',plain,
    ~ node1(c_s,s3),
    inference(resolution,[],['588','26']) ).

cnf('590',plain,
    node4(c_s,s3,s4),
    inference(resolution,[],['36','316']) ).

cnf('591',plain,
    ( node3(c_s,s3,s4)
    | node2(c_s,s3)
    | node1(c_s,s3) ),
    inference(resolution,[],['590','28']) ).

cnf('592',plain,
    node180(c_s,s2,s3),
    inference(resolution,[],['119','98']) ).

cnf('593',plain,
    ( ~ node177(X,Y)
    | m_state_v_minRot(X,Y) ),
    inference(cnf_transformation,[],[m_FeedBelt_10]) ).

cnf('594',plain,
    ~ node177(c_s,s2),
    inference(resolution,[],['93','593']) ).

cnf('595',plain,
    ( ~ node176(X,Y)
    | m_state_v_minRot(X,Y) ),
    inference(cnf_transformation,[],[m_FeedBelt_5]) ).

cnf('596',plain,
    ~ node176(c_s,s2),
    inference(resolution,[],['93','595']) ).

cnf('597',plain,
    ( node179(c_s,s2,s3)
    | node178(c_s,s2) ),
    inference(resolution,[then_simplify],['592','121','594','596']) ).

cnf('598',plain,
    ~ node178(c_s,s2),
    inference(resolution,[],['156','148']) ).

cnf('599',plain,
    node179(c_s,s2,s3),
    inference(simplify,[],['597','598']) ).

cnf('600',plain,
    ~ m_state_v_deliv(c_s,s2),
    inference(resolution,[then_simplify],['145','146','155']) ).

cnf('601',plain,
    ~ m_state_v_deliv(c_s,s3),
    inference(resolution,[then_simplify],['599','146','600']) ).

cnf('602',plain,
    ~ node2(c_s,s3),
    inference(resolution,[],['601','29']) ).

cnf('603',plain,
    ( node3(c_s,s3,s4)
    | node1(c_s,s3) ),
    inference(simplify,[],['591','602']) ).

cnf('604',plain,
    node3(c_s,s3,s4),
    inference(resolution,[],['589','603']) ).

cnf('605',plain,
    m_state_v_tl(c_s,s3),
    inference(resolution,[then_simplify],['269','39','277']) ).

cnf('606',plain,
    m_state_v_tl(c_s,s4),
    inference(resolution,[then_simplify],['604','39','605']) ).

cnf('607',plain,
    ~ node172(c_s,s4),
    inference(resolution,[],['606','43']) ).

cnf('608',plain,
    ( ~ node169(X,Y,Z)
    | ~ m_state_v_TRM(X,Y,c_clockwise)
    | m_state_v_TRM(X,Z,c_idle)
    | ~ m_state_v_maxRot(X,Y)
    | node164(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_18]) ).

cnf('609',plain,
    ( ~ node164(X,Y)
    | m_state_v_minRot(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_2]) ).

cnf('610',plain,
    ~ node164(c_s,s2),
    inference(resolution,[],['93','609']) ).

cnf('611',plain,
    ( ~ node169(c_s,s2,X)
    | m_state_v_TRM(c_s,X,c_idle) ),
    inference(resolution,[then_simplify],['309','608','583','610']) ).

cnf('612',plain,
    node169(c_s,s2,s3),
    inference(resolution,[],['65','98']) ).

cnf('613',plain,
    m_state_v_TRM(c_s,s3,c_idle),
    inference(resolution,[],['611','612']) ).

cnf('614',plain,
    ~ m_state_v_TRM(c_s,s3,c_counterclockwise),
    inference(resolution,[],['613','287']) ).

cnf('615',plain,
    node26(c_s,s3,s4),
    inference(resolution,[],['87','316']) ).

cnf('616',plain,
    ( ~ node26(X,Y,Z)
    | m_state_v_TRM(X,Y,c_clockwise)
    | m_state_v_TRM(X,Y,c_counterclockwise)
    | node25(X,Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_28]) ).

cnf('617',plain,
    ( m_state_v_TRM(c_s,s3,c_counterclockwise)
    | m_state_v_TRM(c_s,s3,c_clockwise)
    | node25(c_s,s3,s4) ),
    inference(resolution,[],['615','616']) ).

cnf('618',plain,
    ~ m_state_v_TRM(c_s,s3,c_clockwise),
    inference(resolution,[],['613','70']) ).

cnf('619',plain,
    node25(c_s,s3,s4),
    inference(resolution,[then_simplify],['614','617','618']) ).

cnf('620',plain,
    ( ~ node25(X,Y,Z)
    | ~ m_state_v_minRot(X,Z)
    | m_state_v_minRot(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_25]) ).

cnf('621',plain,
    ~ m_state_v_minRot(c_s,s3),
    inference(resolution,[],['309','311']) ).

cnf('622',plain,
    ~ m_state_v_minRot(c_s,s4),
    inference(resolution,[then_simplify],['619','620','621']) ).

cnf('623',plain,
    ~ node170(c_s,s4),
    inference(resolution,[],['622','94']) ).

cnf('624',plain,
    ( ~ node175(c_s,s4,X)
    | node174(c_s,s4,X) ),
    inference(resolution,[then_simplify],['326','22','335','607','623']) ).

cnf('625',plain,
    succ(s4,s5),
    inference(cnf_transformation,[],[bound5]) ).

cnf('626',plain,
    trans(s4,s5),
    inference(resolution,[],['5','625']) ).

cnf('627',plain,
    node175(c_s,s4,s5),
    inference(resolution,[],['4','626']) ).

cnf('628',plain,
    node174(c_s,s4,s5),
    inference(resolution,[],['624','627']) ).

cnf('629',plain,
    ~ m_state_v_TEM(c_s,s5,c_down),
    inference(resolution,[],['323','628']) ).

cnf('630',plain,
    ( ~ node174(c_s,s5,X)
    | ~ m_state_v_TEM(c_s,X,c_down) ),
    inference(resolution,[],['629','320']) ).

cnf('631',plain,
    ( ~ node174(c_s,s4,X)
    | ~ m_state_v_TEM(c_s,X,c_up) ),
    inference(resolution,[],['325','320']) ).

cnf('632',plain,
    ~ m_state_v_TEM(c_s,s5,c_up),
    inference(resolution,[],['628','631']) ).

cnf('633',plain,
    ~ node171(c_s,s5),
    inference(resolution,[],['632','102']) ).

cnf('634',plain,
    node24(c_s,s4,s5),
    inference(resolution,[],['105','626']) ).

cnf('635',plain,
    ( m_state_v_TEM(c_s,s4,c_up)
    | node23(c_s,s4,s5)
    | m_state_v_TEM(c_s,s4,c_down) ),
    inference(resolution,[],['634','328']) ).

cnf('636',plain,
    ~ m_state_v_TEM(c_s,s4,c_down),
    inference(resolution,[],['318','321']) ).

cnf('637',plain,
    node23(c_s,s4,s5),
    inference(resolution,[then_simplify],['325','635','636']) ).

cnf('638',plain,
    ~ m_state_v_botPos(c_s,s4),
    inference(resolution,[then_simplify],['331','332','333']) ).

cnf('639',plain,
    ~ m_state_v_botPos(c_s,s5),
    inference(resolution,[then_simplify],['637','332','638']) ).

cnf('640',plain,
    ~ node173(c_s,s5),
    inference(resolution,[],['639','112']) ).

cnf('641',plain,
    node32(c_s,s3,s4),
    inference(resolution,[],['230','316']) ).

cnf('642',plain,
    ( ~ node32(X,Y,Z)
    | ~ m_state_v_A1M(X,Y,c_extend)
    | ~ m_state_v_angle(X,Y,c_arm1totable)
    | m_state_v_a1ext(X,Z,c_ot) ),
    inference(cnf_transformation,[],[m_Sensor_42]) ).

cnf('643',plain,
    ( ~ m_state_v_A1M(c_s,s3,c_extend)
    | ~ m_state_v_angle(c_s,s3,c_arm1totable)
    | m_state_v_a1ext(c_s,s4,c_ot) ),
    inference(resolution,[],['641','642']) ).

cnf('644',plain,
    ( ~ node41(X,Y,Z)
    | ~ m_state_v_angle(X,Z,U)
    | m_state_v_angle(X,Y,U) ),
    inference(cnf_transformation,[],[m_Sensor_71]) ).

cnf('645',plain,
    ( ~ node41(c_s,s1,X)
    | ~ m_state_v_angle(c_s,X,c_arm1topress) ),
    inference(resolution,[],['220','644']) ).

cnf('646',plain,
    ~ m_state_v_angle(c_s,s2,c_arm1topress),
    inference(resolution,[],['386','645']) ).

cnf('647',plain,
    ( ~ node41(c_s,s2,X)
    | ~ m_state_v_angle(c_s,X,c_arm1topress) ),
    inference(resolution,[],['646','644']) ).

cnf('648',plain,
    ~ node39(c_s,s2),
    inference(resolution,[],['485','199']) ).

cnf('649',plain,
    ~ m_state_v_RRM(c_s,s2,c_clockwise),
    inference(resolution,[],['487','484']) ).

cnf('650',plain,
    ~ node40(c_s,s2),
    inference(resolution,[],['649','204']) ).

cnf('651',plain,
    ~ node38(c_s,s2),
    inference(resolution,[],['485','206']) ).

cnf('652',plain,
    ~ node37(c_s,s2),
    inference(resolution,[],['485','208']) ).

cnf('653',plain,
    ( ~ node42(c_s,s2,X)
    | node41(c_s,s2,X) ),
    inference(resolution,[then_simplify],['648','201','650','651','652']) ).

cnf('654',plain,
    node42(c_s,s2,s3),
    inference(resolution,[],['212','98']) ).

cnf('655',plain,
    node41(c_s,s2,s3),
    inference(resolution,[],['653','654']) ).

cnf('656',plain,
    ~ m_state_v_angle(c_s,s3,c_arm1topress),
    inference(resolution,[],['647','655']) ).

cnf('657',plain,
    ( m_state_v_angle(X,Y,c_arm2topress)
    | m_state_v_angle(X,Y,c_arm1topress)
    | m_state_v_angle(X,Y,c_arm2todepbelt)
    | m_state_v_angle(X,Y,c_arm1totable) ),
    inference(cnf_transformation,[],[m_state_51]) ).

cnf('658',plain,
    ( ~ node41(c_s,s1,X)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['470','644']) ).

cnf('659',plain,
    ~ m_state_v_angle(c_s,s2,c_arm2topress),
    inference(resolution,[],['386','658']) ).

cnf('660',plain,
    ( ~ node41(c_s,s2,X)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['659','644']) ).

cnf('661',plain,
    ~ m_state_v_angle(c_s,s3,c_arm2topress),
    inference(resolution,[],['660','655']) ).

cnf('662',plain,
    ( ~ node41(c_s,s1,X)
    | ~ m_state_v_angle(c_s,X,c_arm2todepbelt) ),
    inference(resolution,[],['466','644']) ).

cnf('663',plain,
    ~ m_state_v_angle(c_s,s2,c_arm2todepbelt),
    inference(resolution,[],['386','662']) ).

cnf('664',plain,
    ( ~ node41(c_s,s2,X)
    | ~ m_state_v_angle(c_s,X,c_arm2todepbelt) ),
    inference(resolution,[],['663','644']) ).

cnf('665',plain,
    ~ m_state_v_angle(c_s,s3,c_arm2todepbelt),
    inference(resolution,[],['664','655']) ).

cnf('666',plain,
    m_state_v_angle(c_s,s3,c_arm1totable),
    inference(resolution,[then_simplify],['656','657','661','665']) ).

cnf('667',plain,
    m_state_v_a1ext(c_s,s4,c_ot),
    inference(resolution,[then_simplify],['586','643','666']) ).

cnf('668',plain,
    ~ m_state_v_a1ext(c_s,s4,c_retracted),
    inference(resolution,[],['667','238']) ).

cnf('669',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node1(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_3]) ).

cnf('670',plain,
    ~ node1(c_s,s4),
    inference(resolution,[],['668','669']) ).

cnf('671',plain,
    ~ node177(c_s,s3),
    inference(resolution,[],['278','141']) ).

cnf('672',plain,
    ~ node178(c_s,s3),
    inference(resolution,[],['601','148']) ).

cnf('673',plain,
    ~ node176(c_s,s3),
    inference(resolution,[],['278','143']) ).

cnf('674',plain,
    ( ~ node180(c_s,s3,X)
    | node179(c_s,s3,X) ),
    inference(resolution,[then_simplify],['671','121','672','673']) ).

cnf('675',plain,
    node180(c_s,s3,s4),
    inference(resolution,[],['119','316']) ).

cnf('676',plain,
    node179(c_s,s3,s4),
    inference(resolution,[],['674','675']) ).

cnf('677',plain,
    ~ m_state_v_deliv(c_s,s3),
    inference(resolution,[then_simplify],['599','146','600']) ).

cnf('678',plain,
    ~ m_state_v_deliv(c_s,s4),
    inference(resolution,[then_simplify],['676','146','677']) ).

cnf('679',plain,
    ~ node2(c_s,s4),
    inference(resolution,[],['678','29']) ).

cnf('680',plain,
    node4(c_s,s4,s5),
    inference(resolution,[],['36','626']) ).

cnf('681',plain,
    ( node3(c_s,s4,s5)
    | node2(c_s,s4)
    | node1(c_s,s4) ),
    inference(resolution,[],['680','28']) ).

cnf('682',plain,
    ( node3(c_s,s4,s5)
    | node1(c_s,s4) ),
    inference(resolution,[],['679','681']) ).

cnf('683',plain,
    node3(c_s,s4,s5),
    inference(resolution,[],['670','682']) ).

cnf('684',plain,
    m_state_v_tl(c_s,s4),
    inference(resolution,[then_simplify],['604','39','605']) ).

cnf('685',plain,
    m_state_v_tl(c_s,s5),
    inference(resolution,[then_simplify],['683','39','684']) ).

cnf('686',plain,
    ~ node172(c_s,s5),
    inference(resolution,[],['685','43']) ).

cnf('687',plain,
    ~ m_state_v_TRM(c_s,s3,c_clockwise),
    inference(resolution,[],['613','70']) ).

cnf('688',plain,
    ( m_state_v_TRM(X,Y,c_clockwise)
    | ~ node165(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_6]) ).

cnf('689',plain,
    ~ node165(c_s,s3),
    inference(resolution,[],['687','688']) ).

cnf('690',plain,
    ( ~ node167(X,Y)
    | m_state_v_minRot(X,Y) ),
    inference(cnf_transformation,[],[m_ERTable_14]) ).

cnf('691',plain,
    ~ node167(c_s,s3),
    inference(resolution,[],['312','690']) ).

cnf('692',plain,
    ~ node166(c_s,s3),
    inference(resolution,[],['278','285']) ).

cnf('693',plain,
    ~ node164(c_s,s3),
    inference(resolution,[],['312','609']) ).

cnf('694',plain,
    ( ~ node169(c_s,s3,X)
    | node168(c_s,s3,X) ),
    inference(resolution,[then_simplify],['689','284','691','692','693']) ).

cnf('695',plain,
    node169(c_s,s3,s4),
    inference(resolution,[],['65','316']) ).

cnf('696',plain,
    node168(c_s,s3,s4),
    inference(resolution,[],['694','695']) ).

cnf('697',plain,
    ( ~ node168(X,Y,Z)
    | ~ m_state_v_TRM(X,Z,U)
    | m_state_v_TRM(X,Y,U) ),
    inference(cnf_transformation,[],[m_ERTable_16]) ).

cnf('698',plain,
    ( ~ node168(c_s,s3,X)
    | ~ m_state_v_TRM(c_s,X,c_clockwise) ),
    inference(resolution,[],['687','697']) ).

cnf('699',plain,
    ~ m_state_v_TRM(c_s,s4,c_clockwise),
    inference(resolution,[],['696','698']) ).

cnf('700',plain,
    node26(c_s,s4,s5),
    inference(resolution,[],['87','626']) ).

cnf('701',plain,
    ( m_state_v_TRM(c_s,s4,c_counterclockwise)
    | m_state_v_TRM(c_s,s4,c_clockwise)
    | node25(c_s,s4,s5) ),
    inference(resolution,[],['700','616']) ).

cnf('702',plain,
    ( ~ node168(c_s,s3,X)
    | ~ m_state_v_TRM(c_s,X,c_counterclockwise) ),
    inference(resolution,[],['614','697']) ).

cnf('703',plain,
    ~ m_state_v_TRM(c_s,s4,c_counterclockwise),
    inference(resolution,[],['696','702']) ).

cnf('704',plain,
    node25(c_s,s4,s5),
    inference(resolution,[then_simplify],['699','701','703']) ).

cnf('705',plain,
    ~ m_state_v_minRot(c_s,s4),
    inference(resolution,[then_simplify],['619','620','621']) ).

cnf('706',plain,
    ~ m_state_v_minRot(c_s,s5),
    inference(resolution,[then_simplify],['704','620','705']) ).

cnf('707',plain,
    ~ node170(c_s,s5),
    inference(resolution,[],['706','94']) ).

cnf('708',plain,
    ( ~ node175(c_s,s5,X)
    | node174(c_s,s5,X) ),
    inference(resolution,[then_simplify],['633','22','640','686','707']) ).

cnf('709',plain,
    succ(s5,s6),
    inference(cnf_transformation,[],[bound6]) ).

cnf('710',plain,
    trans(s5,s6),
    inference(resolution,[],['5','709']) ).

cnf('711',plain,
    node175(c_s,s5,s6),
    inference(resolution,[],['4','710']) ).

cnf('712',plain,
    node174(c_s,s5,s6),
    inference(resolution,[],['708','711']) ).

cnf('713',plain,
    ~ m_state_v_TEM(c_s,s6,c_down),
    inference(resolution,[],['630','712']) ).

cnf('714',plain,
    ( ~ node174(c_s,s6,X)
    | ~ m_state_v_TEM(c_s,X,c_down) ),
    inference(resolution,[],['713','320']) ).

cnf('715',plain,
    ( ~ node174(c_s,s5,X)
    | ~ m_state_v_TEM(c_s,X,c_up) ),
    inference(resolution,[],['632','320']) ).

cnf('716',plain,
    ~ m_state_v_TEM(c_s,s6,c_up),
    inference(resolution,[],['712','715']) ).

cnf('717',plain,
    ~ node171(c_s,s6),
    inference(resolution,[],['716','102']) ).

cnf('718',plain,
    node24(c_s,s5,s6),
    inference(resolution,[],['105','710']) ).

cnf('719',plain,
    ( m_state_v_TEM(c_s,s5,c_up)
    | node23(c_s,s5,s6)
    | m_state_v_TEM(c_s,s5,c_down) ),
    inference(resolution,[],['718','328']) ).

cnf('720',plain,
    ~ m_state_v_TEM(c_s,s5,c_up),
    inference(resolution,[],['628','631']) ).

cnf('721',plain,
    node23(c_s,s5,s6),
    inference(resolution,[then_simplify],['629','719','720']) ).

cnf('722',plain,
    ~ m_state_v_botPos(c_s,s5),
    inference(resolution,[then_simplify],['637','332','638']) ).

cnf('723',plain,
    ~ m_state_v_botPos(c_s,s6),
    inference(resolution,[then_simplify],['721','332','722']) ).

cnf('724',plain,
    ~ node173(c_s,s6),
    inference(resolution,[],['723','112']) ).

cnf('725',plain,
    ~ node177(c_s,s4),
    inference(resolution,[],['606','141']) ).

cnf('726',plain,
    ~ node178(c_s,s4),
    inference(resolution,[],['678','148']) ).

cnf('727',plain,
    ~ node176(c_s,s4),
    inference(resolution,[],['606','143']) ).

cnf('728',plain,
    ( ~ node180(c_s,s4,X)
    | node179(c_s,s4,X) ),
    inference(resolution,[then_simplify],['725','121','726','727']) ).

cnf('729',plain,
    node180(c_s,s4,s5),
    inference(resolution,[],['119','626']) ).

cnf('730',plain,
    node179(c_s,s4,s5),
    inference(resolution,[],['728','729']) ).

cnf('731',plain,
    ~ m_state_v_deliv(c_s,s4),
    inference(resolution,[then_simplify],['676','146','677']) ).

cnf('732',plain,
    ~ m_state_v_deliv(c_s,s5),
    inference(resolution,[then_simplify],['730','146','731']) ).

cnf('733',plain,
    ~ node2(c_s,s5),
    inference(resolution,[],['732','29']) ).

cnf('734',plain,
    ~ node128(c_s,s3),
    inference(resolution,[],['588','166']) ).

cnf('735',plain,
    ~ node129(c_s,s3),
    inference(resolution,[],['656','221']) ).

cnf('736',plain,
    ( ~ node31(X,Y,Z)
    | ~ m_state_v_a1ext(X,Z,U)
    | m_state_v_a1ext(X,Y,U) ),
    inference(cnf_transformation,[],[m_Sensor_41]) ).

cnf('737',plain,
    ( ~ node31(c_s,s1,X)
    | ~ m_state_v_a1ext(c_s,X,c_a1ip) ),
    inference(resolution,[],['236','736']) ).

cnf('738',plain,
    ~ m_state_v_a1ext(c_s,s2,c_a1ip),
    inference(resolution,[],['573','737']) ).

cnf('739',plain,
    ( ~ node31(c_s,s2,X)
    | ~ m_state_v_a1ext(c_s,X,c_a1ip) ),
    inference(resolution,[],['738','736']) ).

cnf('740',plain,
    node32(c_s,s2,s3),
    inference(resolution,[],['230','98']) ).

cnf('741',plain,
    ( node31(c_s,s2,s3)
    | m_state_v_A1M(c_s,s2,c_retract)
    | node29(c_s,s2)
    | node30(c_s,s2) ),
    inference(resolution,[],['740','223']) ).

cnf('742',plain,
    ~ m_state_v_A1M(c_s,s2,c_retract),
    inference(resolution,[],['194','266']) ).

cnf('743',plain,
    ~ m_state_v_A1M(c_s,s2,c_extend),
    inference(resolution,[],['577','266']) ).

cnf('744',plain,
    ~ node29(c_s,s2),
    inference(resolution,[],['743','226']) ).

cnf('745',plain,
    ~ node30(c_s,s2),
    inference(resolution,[],['743','224']) ).

cnf('746',plain,
    node31(c_s,s2,s3),
    inference(simplify,[then_simplify],['741','742','744','745']) ).

cnf('747',plain,
    ~ m_state_v_a1ext(c_s,s3,c_a1ip),
    inference(resolution,[],['739','746']) ).

cnf('748',plain,
    ~ node127(c_s,s3),
    inference(resolution,[],['747','171']) ).

cnf('749',plain,
    ( ~ node31(c_s,s1,X)
    | ~ m_state_v_a1ext(c_s,X,c_ot) ),
    inference(resolution,[],['239','736']) ).

cnf('750',plain,
    ~ m_state_v_a1ext(c_s,s2,c_ot),
    inference(resolution,[],['573','749']) ).

cnf('751',plain,
    ( ~ node31(c_s,s2,X)
    | ~ m_state_v_a1ext(c_s,X,c_ot) ),
    inference(resolution,[],['750','736']) ).

cnf('752',plain,
    ~ m_state_v_a1ext(c_s,s3,c_ot),
    inference(resolution,[],['751','746']) ).

cnf('753',plain,
    ~ node126(c_s,s3),
    inference(resolution,[],['752','240']) ).

cnf('754',plain,
    ~ node125(c_s,s3),
    inference(resolution,[],['747','242']) ).

cnf('755',plain,
    ~ node124(c_s,s3),
    inference(resolution,[],['752','244']) ).

cnf('756',plain,
    ( m_state_v_A2M(X,Y,c_retract)
    | ~ node160(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_188]) ).

cnf('757',plain,
    ~ node160(c_s,s2),
    inference(resolution,[],['559','756']) ).

cnf('758',plain,
    ( ~ node163(X,Y,Z)
    | node162(X,Y,Z)
    | node161(X,Y)
    | node160(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_197]) ).

cnf('759',plain,
    ( m_state_v_A1M(X,Y,c_retract)
    | ~ node161(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_191]) ).

cnf('760',plain,
    ~ node161(c_s,s2),
    inference(resolution,[],['267','759']) ).

cnf('761',plain,
    ( ~ node163(c_s,s2,X)
    | node162(c_s,s2,X) ),
    inference(resolution,[then_simplify],['757','758','760']) ).

cnf('762',plain,
    ( node163(X,Y,Z)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ m_Robot_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Robot_198]) ).

cnf('763',plain,
    ( node163(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['762','159','160']) ).

cnf('764',plain,
    node163(c_s,s2,s3),
    inference(resolution,[],['763','98']) ).

cnf('765',plain,
    node162(c_s,s2,s3),
    inference(resolution,[],['761','764']) ).

cnf('766',plain,
    ( ~ node162(X,Y,Z)
    | ~ m_state_v_pl(X,Y)
    | m_state_v_pl(X,Z) ),
    inference(cnf_transformation,[],[m_Robot_193]) ).

cnf('767',plain,
    node163(c_s,s1,s2),
    inference(resolution,[],['763','20']) ).

cnf('768',plain,
    ( m_state_v_angle(X,Y,c_arm1topress)
    | ~ node161(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_190]) ).

cnf('769',plain,
    ~ node161(c_s,s1),
    inference(resolution,[],['220','768']) ).

cnf('770',plain,
    ( m_state_v_angle(X,Y,c_arm2topress)
    | ~ node160(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_187]) ).

cnf('771',plain,
    ~ node160(c_s,s1),
    inference(resolution,[],['470','770']) ).

cnf('772',plain,
    node162(c_s,s1,s2),
    inference(resolution,[then_simplify],['767','758','769','771']) ).

cnf('773',plain,
    node163(c_s,s0,s1),
    inference(resolution,[],['763','7']) ).

cnf('774',plain,
    ~ node161(X3,s0),
    inference(resolution,[],['25','759']) ).

cnf('775',plain,
    ~ node160(X3,s0),
    inference(resolution,[],['352','756']) ).

cnf('776',plain,
    node162(c_s,s0,s1),
    inference(resolution,[then_simplify],['773','758','774','775']) ).

cnf('777',plain,
    m_state_v_pl(X,s0),
    inference(cnf_transformation,[],[m_state_99]) ).

cnf('778',plain,
    ( ~ node162(X,s0,Y)
    | m_state_v_pl(X,Y) ),
    inference(resolution,[],['766','777']) ).

cnf('779',plain,
    m_state_v_pl(c_s,s1),
    inference(resolution,[],['776','778']) ).

cnf('780',plain,
    m_state_v_pl(c_s,s2),
    inference(resolution,[then_simplify],['772','766','779']) ).

cnf('781',plain,
    m_state_v_pl(c_s,s3),
    inference(resolution,[then_simplify],['765','766','780']) ).

cnf('782',plain,
    ( ~ node123(X,Y)
    | ~ m_state_v_pl(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_22]) ).

cnf('783',plain,
    ~ node123(c_s,s3),
    inference(resolution,[],['781','782']) ).

cnf('784',plain,
    ~ m_state_v_A1M(c_s,s3,c_idle),
    inference(resolution,[],['586','178']) ).

cnf('785',plain,
    ( m_state_v_A1M(X,Y,c_idle)
    | ~ node122(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_5]) ).

cnf('786',plain,
    ~ node122(c_s,s3),
    inference(resolution,[],['784','785']) ).

cnf('787',plain,
    ( ~ node131(c_s,s3,X)
    | node130(c_s,s3,X) ),
    inference(resolution,[then_simplify],['734','163','735','748','753','754','755','783','786']) ).

cnf('788',plain,
    node131(c_s,s3,s4),
    inference(resolution,[],['161','316']) ).

cnf('789',plain,
    node130(c_s,s3,s4),
    inference(resolution,[],['787','788']) ).

cnf('790',plain,
    ( ~ node130(X,Y,Z)
    | ~ m_state_v_A1M(X,Y,U)
    | m_state_v_A1M(X,Z,U) ),
    inference(cnf_transformation,[],[m_Robot_43]) ).

cnf('791',plain,
    ( ~ node130(c_s,s3,X)
    | m_state_v_A1M(c_s,X,c_extend) ),
    inference(resolution,[],['586','790']) ).

cnf('792',plain,
    m_state_v_A1M(c_s,s4,c_extend),
    inference(resolution,[],['789','791']) ).

cnf('793',plain,
    node32(c_s,s4,s5),
    inference(resolution,[],['230','626']) ).

cnf('794',plain,
    ( ~ m_state_v_A1M(c_s,s4,c_extend)
    | ~ m_state_v_angle(c_s,s4,c_arm1totable)
    | m_state_v_a1ext(c_s,s5,c_ot) ),
    inference(resolution,[],['793','642']) ).

cnf('795',plain,
    ( ~ node41(c_s,s3,X)
    | ~ m_state_v_angle(c_s,X,c_arm1topress) ),
    inference(resolution,[],['656','644']) ).

cnf('796',plain,
    node42(c_s,s3,s4),
    inference(resolution,[],['212','316']) ).

cnf('797',plain,
    ( node41(c_s,s3,s4)
    | node37(c_s,s3)
    | node38(c_s,s3)
    | node39(c_s,s3)
    | node40(c_s,s3) ),
    inference(resolution,[],['796','201']) ).

cnf('798',plain,
    ( ~ node158(c_s,s2,X)
    | ~ m_state_v_RRM(c_s,X,c_counterclock) ),
    inference(resolution,[],['485','361']) ).

cnf('799',plain,
    ~ node157(c_s,s2),
    inference(resolution,[],['649','340']) ).

cnf('800',plain,
    ~ node156(c_s,s2),
    inference(resolution,[],['459','342']) ).

cnf('801',plain,
    ~ node155(c_s,s2),
    inference(resolution,[],['459','344']) ).

cnf('802',plain,
    ~ node154(c_s,s2),
    inference(resolution,[],['459','346']) ).

cnf('803',plain,
    ~ node153(c_s,s2),
    inference(resolution,[],['267','348']) ).

cnf('804',plain,
    ~ node152(c_s,s2),
    inference(resolution,[],['559','353']) ).

cnf('805',plain,
    ~ node151(c_s,s2),
    inference(resolution,[],['559','355']) ).

cnf('806',plain,
    ~ node150(c_s,s2),
    inference(resolution,[],['267','357']) ).

cnf('807',plain,
    ( ~ node159(c_s,s2,X)
    | node158(c_s,s2,X) ),
    inference(resolution,[then_simplify],['799','339','800','801','802','803','804','805','806']) ).

cnf('808',plain,
    node159(c_s,s2,s3),
    inference(resolution,[],['337','98']) ).

cnf('809',plain,
    node158(c_s,s2,s3),
    inference(resolution,[],['807','808']) ).

cnf('810',plain,
    ~ m_state_v_RRM(c_s,s3,c_counterclock),
    inference(resolution,[],['798','809']) ).

cnf('811',plain,
    ~ node37(c_s,s3),
    inference(resolution,[],['810','208']) ).

cnf('812',plain,
    ~ node38(c_s,s3),
    inference(resolution,[],['810','206']) ).

cnf('813',plain,
    ~ node39(c_s,s3),
    inference(resolution,[],['810','199']) ).

cnf('814',plain,
    ( ~ node158(c_s,s2,X)
    | ~ m_state_v_RRM(c_s,X,c_clockwise) ),
    inference(resolution,[],['649','361']) ).

cnf('815',plain,
    ~ m_state_v_RRM(c_s,s3,c_clockwise),
    inference(resolution,[],['809','814']) ).

cnf('816',plain,
    ~ node40(c_s,s3),
    inference(resolution,[],['815','204']) ).

cnf('817',plain,
    node41(c_s,s3,s4),
    inference(simplify,[then_simplify],['797','811','812','813','816']) ).

cnf('818',plain,
    ~ m_state_v_angle(c_s,s4,c_arm1topress),
    inference(resolution,[],['795','817']) ).

cnf('819',plain,
    ~ m_state_v_angle(c_s,s3,c_arm2topress),
    inference(resolution,[],['660','655']) ).

cnf('820',plain,
    ( ~ node41(c_s,s3,X)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['819','644']) ).

cnf('821',plain,
    ~ m_state_v_angle(c_s,s4,c_arm2topress),
    inference(resolution,[],['820','817']) ).

cnf('822',plain,
    ~ m_state_v_angle(c_s,s3,c_arm2todepbelt),
    inference(resolution,[],['664','655']) ).

cnf('823',plain,
    ( ~ node41(c_s,s3,X)
    | ~ m_state_v_angle(c_s,X,c_arm2todepbelt) ),
    inference(resolution,[],['822','644']) ).

cnf('824',plain,
    ~ m_state_v_angle(c_s,s4,c_arm2todepbelt),
    inference(resolution,[],['823','817']) ).

cnf('825',plain,
    m_state_v_angle(c_s,s4,c_arm1totable),
    inference(resolution,[then_simplify],['818','657','821','824']) ).

cnf('826',plain,
    m_state_v_a1ext(c_s,s5,c_ot),
    inference(resolution,[then_simplify],['792','794','825']) ).

cnf('827',plain,
    ~ m_state_v_a1ext(c_s,s5,c_retracted),
    inference(resolution,[],['826','238']) ).

cnf('828',plain,
    ~ node1(c_s,s5),
    inference(resolution,[],['827','669']) ).

cnf('829',plain,
    node4(c_s,s5,s6),
    inference(resolution,[],['36','710']) ).

cnf('830',plain,
    ( node3(c_s,s5,s6)
    | node2(c_s,s5)
    | node1(c_s,s5) ),
    inference(resolution,[],['829','28']) ).

cnf('831',plain,
    ( node3(c_s,s5,s6)
    | node2(c_s,s5) ),
    inference(resolution,[],['828','830']) ).

cnf('832',plain,
    node3(c_s,s5,s6),
    inference(resolution,[],['733','831']) ).

cnf('833',plain,
    m_state_v_tl(c_s,s5),
    inference(resolution,[then_simplify],['683','39','684']) ).

cnf('834',plain,
    m_state_v_tl(c_s,s6),
    inference(resolution,[then_simplify],['832','39','833']) ).

cnf('835',plain,
    ~ node172(c_s,s6),
    inference(resolution,[],['834','43']) ).

cnf('836',plain,
    ~ m_state_v_TRM(c_s,s4,c_counterclockwise),
    inference(resolution,[],['696','702']) ).

cnf('837',plain,
    ( ~ node168(c_s,s4,X)
    | ~ m_state_v_TRM(c_s,X,c_counterclockwise) ),
    inference(resolution,[],['836','697']) ).

cnf('838',plain,
    ~ node165(c_s,s4),
    inference(resolution,[],['699','688']) ).

cnf('839',plain,
    ~ node167(c_s,s4),
    inference(resolution,[],['622','690']) ).

cnf('840',plain,
    ~ node166(c_s,s4),
    inference(resolution,[],['606','285']) ).

cnf('841',plain,
    ~ node164(c_s,s4),
    inference(resolution,[],['622','609']) ).

cnf('842',plain,
    ( ~ node169(c_s,s4,X)
    | node168(c_s,s4,X) ),
    inference(resolution,[then_simplify],['838','284','839','840','841']) ).

cnf('843',plain,
    node169(c_s,s4,s5),
    inference(resolution,[],['65','626']) ).

cnf('844',plain,
    node168(c_s,s4,s5),
    inference(resolution,[],['842','843']) ).

cnf('845',plain,
    ~ m_state_v_TRM(c_s,s5,c_counterclockwise),
    inference(resolution,[],['837','844']) ).

cnf('846',plain,
    node26(c_s,s5,s6),
    inference(resolution,[],['87','710']) ).

cnf('847',plain,
    ( m_state_v_TRM(c_s,s5,c_counterclockwise)
    | m_state_v_TRM(c_s,s5,c_clockwise)
    | node25(c_s,s5,s6) ),
    inference(resolution,[],['846','616']) ).

cnf('848',plain,
    ( ~ node168(c_s,s4,X)
    | ~ m_state_v_TRM(c_s,X,c_clockwise) ),
    inference(resolution,[],['699','697']) ).

cnf('849',plain,
    ~ m_state_v_TRM(c_s,s5,c_clockwise),
    inference(resolution,[],['844','848']) ).

cnf('850',plain,
    node25(c_s,s5,s6),
    inference(resolution,[then_simplify],['845','847','849']) ).

cnf('851',plain,
    ~ m_state_v_minRot(c_s,s5),
    inference(resolution,[then_simplify],['704','620','705']) ).

cnf('852',plain,
    ~ m_state_v_minRot(c_s,s6),
    inference(resolution,[then_simplify],['850','620','851']) ).

cnf('853',plain,
    ~ node170(c_s,s6),
    inference(resolution,[],['852','94']) ).

cnf('854',plain,
    ( ~ node175(c_s,s6,X)
    | node174(c_s,s6,X) ),
    inference(resolution,[then_simplify],['717','22','724','835','853']) ).

cnf('855',plain,
    succ(s6,s7),
    inference(cnf_transformation,[],[bound7]) ).

cnf('856',plain,
    trans(s6,s7),
    inference(resolution,[],['5','855']) ).

cnf('857',plain,
    node175(c_s,s6,s7),
    inference(resolution,[],['4','856']) ).

cnf('858',plain,
    node174(c_s,s6,s7),
    inference(resolution,[],['854','857']) ).

cnf('859',plain,
    ~ m_state_v_TEM(c_s,s7,c_down),
    inference(resolution,[],['714','858']) ).

cnf('860',plain,
    ( ~ node174(c_s,s7,X)
    | ~ m_state_v_TEM(c_s,X,c_down) ),
    inference(resolution,[],['859','320']) ).

cnf('861',plain,
    ( ~ node174(c_s,s6,X)
    | ~ m_state_v_TEM(c_s,X,c_up) ),
    inference(resolution,[],['716','320']) ).

cnf('862',plain,
    ~ m_state_v_TEM(c_s,s7,c_up),
    inference(resolution,[],['858','861']) ).

cnf('863',plain,
    ~ node171(c_s,s7),
    inference(resolution,[],['862','102']) ).

cnf('864',plain,
    node24(c_s,s6,s7),
    inference(resolution,[],['105','856']) ).

cnf('865',plain,
    ( m_state_v_TEM(c_s,s6,c_up)
    | node23(c_s,s6,s7)
    | m_state_v_TEM(c_s,s6,c_down) ),
    inference(resolution,[],['864','328']) ).

cnf('866',plain,
    ~ m_state_v_TEM(c_s,s6,c_up),
    inference(resolution,[],['712','715']) ).

cnf('867',plain,
    node23(c_s,s6,s7),
    inference(resolution,[then_simplify],['713','865','866']) ).

cnf('868',plain,
    ~ m_state_v_botPos(c_s,s6),
    inference(resolution,[then_simplify],['721','332','722']) ).

cnf('869',plain,
    ~ m_state_v_botPos(c_s,s7),
    inference(resolution,[then_simplify],['867','332','868']) ).

cnf('870',plain,
    ~ node173(c_s,s7),
    inference(resolution,[],['869','112']) ).

cnf('871',plain,
    ~ node178(c_s,s5),
    inference(resolution,[],['732','148']) ).

cnf('872',plain,
    ~ node177(c_s,s5),
    inference(resolution,[],['685','141']) ).

cnf('873',plain,
    ~ node176(c_s,s5),
    inference(resolution,[],['685','143']) ).

cnf('874',plain,
    ( ~ node180(c_s,s5,X)
    | node179(c_s,s5,X) ),
    inference(resolution,[then_simplify],['871','121','872','873']) ).

cnf('875',plain,
    node180(c_s,s5,s6),
    inference(resolution,[],['119','710']) ).

cnf('876',plain,
    node179(c_s,s5,s6),
    inference(resolution,[],['874','875']) ).

cnf('877',plain,
    ~ m_state_v_deliv(c_s,s5),
    inference(resolution,[then_simplify],['730','146','731']) ).

cnf('878',plain,
    ~ m_state_v_deliv(c_s,s6),
    inference(resolution,[then_simplify],['876','146','877']) ).

cnf('879',plain,
    ~ node2(c_s,s6),
    inference(resolution,[],['878','29']) ).

cnf('880',plain,
    ( ~ node31(c_s,s5,X)
    | m_state_v_a1ext(c_s,X,c_ot) ),
    inference(resolution,[],['826','233']) ).

cnf('881',plain,
    ( ~ node131(X,Y,Z)
    | ~ m_state_v_a1ext(X,Y,c_ot)
    | ~ m_state_v_A1M(X,Y,c_extend)
    | ~ m_state_v_angle(X,Y,c_arm1totable)
    | m_state_v_A1M(X,Z,c_idle)
    | node123(X,Y)
    | node122(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_47]) ).

cnf('882',plain,
    m_state_v_a1ext(c_s,s4,c_ot),
    inference(resolution,[then_simplify],['586','643','666']) ).

cnf('883',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node123(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_13]) ).

cnf('884',plain,
    ~ node123(c_s,s4),
    inference(resolution,[],['668','883']) ).

cnf('885',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node122(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_2]) ).

cnf('886',plain,
    ~ node122(c_s,s4),
    inference(resolution,[],['668','885']) ).

cnf('887',plain,
    ( ~ node131(c_s,s4,X)
    | m_state_v_A1M(c_s,X,c_idle) ),
    inference(resolution,[then_simplify],['792','881','882','825','884','886']) ).

cnf('888',plain,
    node131(c_s,s4,s5),
    inference(resolution,[],['161','626']) ).

cnf('889',plain,
    m_state_v_A1M(c_s,s5,c_idle),
    inference(resolution,[],['887','888']) ).

cnf('890',plain,
    ~ m_state_v_A1M(c_s,s5,c_extend),
    inference(resolution,[],['889','178']) ).

cnf('891',plain,
    ~ node29(c_s,s5),
    inference(resolution,[],['890','226']) ).

cnf('892',plain,
    node32(c_s,s5,s6),
    inference(resolution,[],['230','710']) ).

cnf('893',plain,
    ( node31(c_s,s5,s6)
    | m_state_v_A1M(c_s,s5,c_retract)
    | node29(c_s,s5)
    | node30(c_s,s5) ),
    inference(resolution,[],['892','223']) ).

cnf('894',plain,
    ~ m_state_v_A1M(c_s,s5,c_retract),
    inference(resolution,[],['889','23']) ).

cnf('895',plain,
    ( ~ node41(c_s,s4,X)
    | ~ m_state_v_angle(c_s,X,c_arm1topress) ),
    inference(resolution,[],['818','644']) ).

cnf('896',plain,
    ~ node150(c_s,s3),
    inference(resolution,[],['588','357']) ).

cnf('897',plain,
    ~ node157(c_s,s3),
    inference(resolution,[],['815','340']) ).

cnf('898',plain,
    ( ~ node144(c_s,s2,X)
    | ~ m_state_v_A1Mag(c_s,X,c_on) ),
    inference(resolution,[],['459','445']) ).

cnf('899',plain,
    ~ node143(c_s,s2),
    inference(resolution,[],['743','452']) ).

cnf('900',plain,
    ~ node142(c_s,s2),
    inference(resolution,[],['743','454']) ).

cnf('901',plain,
    ( ~ node145(c_s,s2,X)
    | node144(c_s,s2,X) ),
    inference(resolution,[then_simplify],['899','439','900']) ).

cnf('902',plain,
    node145(c_s,s2,s3),
    inference(resolution,[],['437','98']) ).

cnf('903',plain,
    node144(c_s,s2,s3),
    inference(resolution,[],['901','902']) ).

cnf('904',plain,
    ~ m_state_v_A1Mag(c_s,s3,c_on),
    inference(resolution,[],['898','903']) ).

cnf('905',plain,
    ~ node156(c_s,s3),
    inference(resolution,[],['904','342']) ).

cnf('906',plain,
    ~ node155(c_s,s3),
    inference(resolution,[],['904','344']) ).

cnf('907',plain,
    ~ node154(c_s,s3),
    inference(resolution,[],['904','346']) ).

cnf('908',plain,
    ~ node153(c_s,s3),
    inference(resolution,[],['656','473']) ).

cnf('909',plain,
    ~ node132(c_s,s2),
    inference(resolution,[],['459','510']) ).

cnf('910',plain,
    ~ node139(c_s,s2),
    inference(resolution,[],['559','494']) ).

cnf('911',plain,
    ~ node138(c_s,s2),
    inference(resolution,[],['559','496']) ).

cnf('912',plain,
    ( ~ node35(X,Y,Z)
    | ~ m_state_v_a2ext(X,Z,U)
    | m_state_v_a2ext(X,Y,U) ),
    inference(cnf_transformation,[],[m_Sensor_52]) ).

cnf('913',plain,
    ( ~ node35(c_s,s1,X)
    | ~ m_state_v_a2ext(c_s,X,c_ob) ),
    inference(resolution,[],['411','912']) ).

cnf('914',plain,
    ~ m_state_v_a2ext(c_s,s2,c_ob),
    inference(resolution,[],['523','913']) ).

cnf('915',plain,
    ~ node137(c_s,s2),
    inference(resolution,[],['914','499']) ).

cnf('916',plain,
    ( ~ node35(c_s,s1,X)
    | ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
    inference(resolution,[],['415','912']) ).

cnf('917',plain,
    ~ m_state_v_a2ext(c_s,s2,c_a2ip),
    inference(resolution,[],['523','916']) ).

cnf('918',plain,
    ~ node136(c_s,s2),
    inference(resolution,[],['917','532']) ).

cnf('919',plain,
    ~ m_state_v_A2M(c_s,s2,c_extend),
    inference(resolution,[],['558','562']) ).

cnf('920',plain,
    ~ node135(c_s,s2),
    inference(resolution,[],['919','503']) ).

cnf('921',plain,
    ~ node134(c_s,s2),
    inference(resolution,[],['919','505']) ).

cnf('922',plain,
    ( ~ node81(X,Y,Z)
    | ~ m_state_v_gvp(X,Y,U)
    | m_state_v_gvp(X,Z,U) ),
    inference(cnf_transformation,[],[m_Sensor_184]) ).

cnf('923',plain,
    m_state_v_gvp(X,s0,c_ovb),
    inference(cnf_transformation,[],[m_state_109]) ).

cnf('924',plain,
    ( ~ node81(X,s0,Y)
    | m_state_v_gvp(X,Y,c_ovb) ),
    inference(resolution,[],['922','923']) ).

cnf('925',plain,
    ( node82(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_191]) ).

cnf('926',plain,
    ( node82(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['925','53','54']) ).

cnf('927',plain,
    node82(c_s,s0,s1),
    inference(resolution,[],['926','7']) ).

cnf('928',plain,
    ( ~ node82(X,Y,Z)
    | node81(X,Y,Z)
    | node80(X,Y)
    | node79(X,Y)
    | node78(X,Y)
    | node77(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_190]) ).

cnf('929',plain,
    ( m_state_v_CVM(X,Y,c_up)
    | ~ node80(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_183]) ).

cnf('930',plain,
    ~ node80(X3,s0),
    inference(resolution,[],['540','929']) ).

cnf('931',plain,
    ( ~ m_state_v_CVM(X,Y,c_down)
    | ~ m_state_v_CVM(X,Y,c_idle) ),
    inference(cnf_transformation,[],[m_state_22]) ).

cnf('932',plain,
    ~ m_state_v_CVM(X,s0,c_down),
    inference(resolution,[],['931','539']) ).

cnf('933',plain,
    ( m_state_v_CVM(X,Y,c_down)
    | ~ node79(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_180]) ).

cnf('934',plain,
    ~ node79(X3,s0),
    inference(resolution,[],['932','933']) ).

cnf('935',plain,
    ( m_state_v_CVM(X,Y,c_down)
    | ~ node78(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_177]) ).

cnf('936',plain,
    ~ node78(X3,s0),
    inference(resolution,[],['932','935']) ).

cnf('937',plain,
    ( m_state_v_CVM(X,Y,c_up)
    | ~ node77(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_174]) ).

cnf('938',plain,
    ~ node77(X3,s0),
    inference(resolution,[],['540','937']) ).

cnf('939',plain,
    node81(c_s,s0,s1),
    inference(resolution,[then_simplify],['927','928','930','934','936','938']) ).

cnf('940',plain,
    m_state_v_gvp(c_s,s1,c_ovb),
    inference(resolution,[],['924','939']) ).

cnf('941',plain,
    ( ~ m_state_v_gvp(X,Y,c_ovb)
    | ~ m_state_v_gvp(X,Y,c_sd) ),
    inference(cnf_transformation,[],[m_state_71]) ).

cnf('942',plain,
    ~ m_state_v_gvp(c_s,s1,c_sd),
    inference(resolution,[],['940','941']) ).

cnf('943',plain,
    ( m_state_v_gvp(X,Y,c_sd)
    | ~ node5(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_14]) ).

cnf('944',plain,
    ~ node5(c_s,s1),
    inference(resolution,[],['942','943']) ).

cnf('945',plain,
    ( m_state_v_angle(X,Y,c_arm2todepbelt)
    | ~ node6(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_15]) ).

cnf('946',plain,
    ~ node6(c_s,s1),
    inference(resolution,[],['466','945']) ).

cnf('947',plain,
    ( ~ node8(c_s,s1,X)
    | node7(c_s,s1,X) ),
    inference(resolution,[then_simplify],['944','543','946']) ).

cnf('948',plain,
    node8(c_s,s1,s2),
    inference(resolution,[],['548','20']) ).

cnf('949',plain,
    node7(c_s,s1,s2),
    inference(resolution,[],['947','948']) ).

cnf('950',plain,
    ~ m_state_v_brl(c_s,s1),
    inference(resolution,[],['550','552']) ).

cnf('951',plain,
    ~ m_state_v_brl(c_s,s2),
    inference(resolution,[then_simplify],['949','551','950']) ).

cnf('952',plain,
    ~ node133(c_s,s2),
    inference(resolution,[],['951','507']) ).

cnf('953',plain,
    ( ~ node141(c_s,s2,X)
    | node140(c_s,s2,X) ),
    inference(resolution,[then_simplify],['909','493','910','911','915','918','920','921','952']) ).

cnf('954',plain,
    node141(c_s,s2,s3),
    inference(resolution,[],['491','98']) ).

cnf('955',plain,
    node140(c_s,s2,s3),
    inference(resolution,[],['953','954']) ).

cnf('956',plain,
    ( ~ node140(c_s,s2,X)
    | ~ m_state_v_A2M(c_s,X,c_retract) ),
    inference(resolution,[],['559','514']) ).

cnf('957',plain,
    ~ m_state_v_A2M(c_s,s3,c_retract),
    inference(resolution,[],['955','956']) ).

cnf('958',plain,
    ~ node152(c_s,s3),
    inference(resolution,[],['957','353']) ).

cnf('959',plain,
    ~ node151(c_s,s3),
    inference(resolution,[],['957','355']) ).

cnf('960',plain,
    ( ~ node159(c_s,s3,X)
    | node158(c_s,s3,X) ),
    inference(resolution,[then_simplify],['896','339','897','905','906','907','908','958','959']) ).

cnf('961',plain,
    node159(c_s,s3,s4),
    inference(resolution,[],['337','316']) ).

cnf('962',plain,
    node158(c_s,s3,s4),
    inference(resolution,[],['960','961']) ).

cnf('963',plain,
    ( ~ node158(c_s,s3,X)
    | ~ m_state_v_RRM(c_s,X,c_counterclock) ),
    inference(resolution,[],['810','361']) ).

cnf('964',plain,
    ~ m_state_v_RRM(c_s,s4,c_counterclock),
    inference(resolution,[],['962','963']) ).

cnf('965',plain,
    ~ node37(c_s,s4),
    inference(resolution,[],['964','208']) ).

cnf('966',plain,
    ( m_state_v_angle(X,Y,c_arm1topress)
    | ~ node40(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_67]) ).

cnf('967',plain,
    ~ node40(c_s,s4),
    inference(resolution,[],['818','966']) ).

cnf('968',plain,
    node42(c_s,s4,s5),
    inference(resolution,[],['212','626']) ).

cnf('969',plain,
    ( node41(c_s,s4,s5)
    | node37(c_s,s4)
    | node38(c_s,s4)
    | node39(c_s,s4)
    | node40(c_s,s4) ),
    inference(resolution,[],['968','201']) ).

cnf('970',plain,
    ~ m_state_v_angle(c_s,s4,c_arm2topress),
    inference(resolution,[],['820','817']) ).

cnf('971',plain,
    ( m_state_v_angle(X,Y,c_arm2topress)
    | ~ node38(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_61]) ).

cnf('972',plain,
    ~ node38(c_s,s4),
    inference(resolution,[],['970','971']) ).

cnf('973',plain,
    ~ m_state_v_angle(c_s,s4,c_arm2todepbelt),
    inference(resolution,[],['823','817']) ).

cnf('974',plain,
    ( m_state_v_angle(X,Y,c_arm2todepbelt)
    | ~ node39(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_64]) ).

cnf('975',plain,
    ~ node39(c_s,s4),
    inference(resolution,[],['973','974']) ).

cnf('976',plain,
    ( node41(c_s,s4,s5)
    | node37(c_s,s4) ),
    inference(resolution,[then_simplify],['967','969','972','975']) ).

cnf('977',plain,
    node41(c_s,s4,s5),
    inference(resolution,[],['965','976']) ).

cnf('978',plain,
    ~ m_state_v_angle(c_s,s5,c_arm1topress),
    inference(resolution,[],['895','977']) ).

cnf('979',plain,
    ~ node30(c_s,s5),
    inference(resolution,[],['978','569']) ).

cnf('980',plain,
    node31(c_s,s5,s6),
    inference(resolution,[then_simplify],['891','893','894','979']) ).

cnf('981',plain,
    m_state_v_a1ext(c_s,s6,c_ot),
    inference(resolution,[],['880','980']) ).

cnf('982',plain,
    ~ m_state_v_a1ext(c_s,s6,c_retracted),
    inference(resolution,[],['981','238']) ).

cnf('983',plain,
    ~ node1(c_s,s6),
    inference(resolution,[],['982','669']) ).

cnf('984',plain,
    node4(c_s,s6,s7),
    inference(resolution,[],['36','856']) ).

cnf('985',plain,
    ( node3(c_s,s6,s7)
    | node2(c_s,s6)
    | node1(c_s,s6) ),
    inference(resolution,[],['984','28']) ).

cnf('986',plain,
    ( node3(c_s,s6,s7)
    | node2(c_s,s6) ),
    inference(resolution,[],['983','985']) ).

cnf('987',plain,
    node3(c_s,s6,s7),
    inference(resolution,[],['879','986']) ).

cnf('988',plain,
    m_state_v_tl(c_s,s6),
    inference(resolution,[then_simplify],['832','39','833']) ).

cnf('989',plain,
    m_state_v_tl(c_s,s7),
    inference(resolution,[then_simplify],['987','39','988']) ).

cnf('990',plain,
    ~ node172(c_s,s7),
    inference(resolution,[],['989','43']) ).

cnf('991',plain,
    ( ~ node168(c_s,s5,X)
    | ~ m_state_v_TRM(c_s,X,c_counterclockwise) ),
    inference(resolution,[],['845','697']) ).

cnf('992',plain,
    ~ m_state_v_TRM(c_s,s5,c_clockwise),
    inference(resolution,[],['844','848']) ).

cnf('993',plain,
    ~ node165(c_s,s5),
    inference(resolution,[],['992','688']) ).

cnf('994',plain,
    ~ node167(c_s,s5),
    inference(resolution,[],['706','690']) ).

cnf('995',plain,
    ~ node166(c_s,s5),
    inference(resolution,[],['685','285']) ).

cnf('996',plain,
    ~ node164(c_s,s5),
    inference(resolution,[],['706','609']) ).

cnf('997',plain,
    ( ~ node169(c_s,s5,X)
    | node168(c_s,s5,X) ),
    inference(resolution,[then_simplify],['993','284','994','995','996']) ).

cnf('998',plain,
    node169(c_s,s5,s6),
    inference(resolution,[],['65','710']) ).

cnf('999',plain,
    node168(c_s,s5,s6),
    inference(resolution,[],['997','998']) ).

cnf('1000',plain,
    ~ m_state_v_TRM(c_s,s6,c_counterclockwise),
    inference(resolution,[],['991','999']) ).

cnf('1001',plain,
    node26(c_s,s6,s7),
    inference(resolution,[],['87','856']) ).

cnf('1002',plain,
    ( m_state_v_TRM(c_s,s6,c_counterclockwise)
    | node25(c_s,s6,s7)
    | m_state_v_TRM(c_s,s6,c_clockwise) ),
    inference(resolution,[],['1001','616']) ).

cnf('1003',plain,
    ( ~ node168(c_s,s5,X)
    | ~ m_state_v_TRM(c_s,X,c_clockwise) ),
    inference(resolution,[],['992','697']) ).

cnf('1004',plain,
    ~ m_state_v_TRM(c_s,s6,c_clockwise),
    inference(resolution,[],['999','1003']) ).

cnf('1005',plain,
    node25(c_s,s6,s7),
    inference(resolution,[then_simplify],['1000','1002','1004']) ).

cnf('1006',plain,
    ~ m_state_v_minRot(c_s,s6),
    inference(resolution,[then_simplify],['850','620','851']) ).

cnf('1007',plain,
    ~ m_state_v_minRot(c_s,s7),
    inference(resolution,[then_simplify],['1005','620','1006']) ).

cnf('1008',plain,
    ~ node170(c_s,s7),
    inference(resolution,[],['1007','94']) ).

cnf('1009',plain,
    ( ~ node175(c_s,s7,X)
    | node174(c_s,s7,X) ),
    inference(resolution,[then_simplify],['863','22','870','990','1008']) ).

cnf('1010',plain,
    succ(s7,s8),
    inference(cnf_transformation,[],[bound8]) ).

cnf('1011',plain,
    trans(s7,s8),
    inference(resolution,[],['5','1010']) ).

cnf('1012',plain,
    node175(c_s,s7,s8),
    inference(resolution,[],['4','1011']) ).

cnf('1013',plain,
    node174(c_s,s7,s8),
    inference(resolution,[],['1009','1012']) ).

cnf('1014',plain,
    ~ m_state_v_TEM(c_s,s8,c_down),
    inference(resolution,[],['860','1013']) ).

cnf('1015',plain,
    ( m_state_v_TEM(X,Y,c_down)
    | m_state_v_TEM(X,Y,c_idle)
    | m_state_v_TEM(X,Y,c_up) ),
    inference(cnf_transformation,[],[m_state_35]) ).

cnf('1016',plain,
    ( ~ node174(c_s,s7,X)
    | ~ m_state_v_TEM(c_s,X,c_up) ),
    inference(resolution,[],['862','320']) ).

cnf('1017',plain,
    ~ m_state_v_TEM(c_s,s8,c_up),
    inference(resolution,[],['1013','1016']) ).

cnf('1018',plain,
    m_state_v_TEM(c_s,s8,c_idle),
    inference(resolution,[then_simplify],['1014','1015','1017']) ).

cnf('1019',plain,
    ( ~ node175(X0,X1,X2)
    | ~ m_state_v_TRM(X0,X1,c_idle)
    | ~ m_state_v_TEM(X0,X1,c_idle)
    | m_state_v_TEM(X0,X2,c_down)
    | ~ m_state_v_maxRot(X0,X1)
    | ~ m_state_v_topPos(X0,X1)
    | node171(X0,X1)
    | node170(X0,X1)
    | m_state_v_tl(X0,X1) ),
    inference(cnf_transformation,[],[m_ERTable_41]) ).

cnf('1020',plain,
    ( ~ node170(X0,X1)
    | m_state_v_tl(X0,X1) ),
    inference(cnf_transformation,[],[m_ERTable_27]) ).

cnf('1021',plain,
    ( ~ node175(X,Y,Z)
    | ~ m_state_v_TRM(X,Y,c_idle)
    | ~ m_state_v_TEM(X,Y,c_idle)
    | m_state_v_TEM(X,Z,c_down)
    | ~ m_state_v_maxRot(X,Y)
    | ~ m_state_v_topPos(X,Y)
    | node171(X,Y)
    | m_state_v_tl(X,Y) ),
    inference(simplify,[],['1019','1020']) ).

cnf('1022',plain,
    ( ~ node168(c_s,s6,X)
    | ~ m_state_v_TRM(c_s,X,c_counterclockwise) ),
    inference(resolution,[],['1000','697']) ).

cnf('1023',plain,
    ~ m_state_v_TRM(c_s,s6,c_clockwise),
    inference(resolution,[],['999','1003']) ).

cnf('1024',plain,
    ~ node165(c_s,s6),
    inference(resolution,[],['1023','688']) ).

cnf('1025',plain,
    ~ node167(c_s,s6),
    inference(resolution,[],['852','690']) ).

cnf('1026',plain,
    ~ node166(c_s,s6),
    inference(resolution,[],['834','285']) ).

cnf('1027',plain,
    ~ node164(c_s,s6),
    inference(resolution,[],['852','609']) ).

cnf('1028',plain,
    ( ~ node169(c_s,s6,X)
    | node168(c_s,s6,X) ),
    inference(resolution,[then_simplify],['1024','284','1025','1026','1027']) ).

cnf('1029',plain,
    node169(c_s,s6,s7),
    inference(resolution,[],['65','856']) ).

cnf('1030',plain,
    node168(c_s,s6,s7),
    inference(resolution,[],['1028','1029']) ).

cnf('1031',plain,
    ~ m_state_v_TRM(c_s,s7,c_counterclockwise),
    inference(resolution,[],['1022','1030']) ).

cnf('1032',plain,
    ( ~ node168(c_s,s7,X)
    | ~ m_state_v_TRM(c_s,X,c_counterclockwise) ),
    inference(resolution,[],['1031','697']) ).

cnf('1033',plain,
    ( ~ node168(c_s,s6,X)
    | ~ m_state_v_TRM(c_s,X,c_clockwise) ),
    inference(resolution,[],['1023','697']) ).

cnf('1034',plain,
    ~ m_state_v_TRM(c_s,s7,c_clockwise),
    inference(resolution,[],['1030','1033']) ).

cnf('1035',plain,
    ~ node165(c_s,s7),
    inference(resolution,[],['1034','688']) ).

cnf('1036',plain,
    ~ node167(c_s,s7),
    inference(resolution,[],['1007','690']) ).

cnf('1037',plain,
    ~ node166(c_s,s7),
    inference(resolution,[],['989','285']) ).

cnf('1038',plain,
    ~ node164(c_s,s7),
    inference(resolution,[],['1007','609']) ).

cnf('1039',plain,
    ( ~ node169(c_s,s7,X)
    | node168(c_s,s7,X) ),
    inference(resolution,[then_simplify],['1035','284','1036','1037','1038']) ).

cnf('1040',plain,
    node169(c_s,s7,s8),
    inference(resolution,[],['65','1011']) ).

cnf('1041',plain,
    node168(c_s,s7,s8),
    inference(resolution,[],['1039','1040']) ).

cnf('1042',plain,
    ~ m_state_v_TRM(c_s,s8,c_counterclockwise),
    inference(resolution,[],['1032','1041']) ).

cnf('1043',plain,
    ( m_state_v_TRM(X,Y,c_clockwise)
    | m_state_v_TRM(X,Y,c_counterclockwise)
    | m_state_v_TRM(X,Y,c_idle) ),
    inference(cnf_transformation,[],[m_state_39]) ).

cnf('1044',plain,
    ( ~ node168(c_s,s7,X)
    | ~ m_state_v_TRM(c_s,X,c_clockwise) ),
    inference(resolution,[],['1034','697']) ).

cnf('1045',plain,
    ~ m_state_v_TRM(c_s,s8,c_clockwise),
    inference(resolution,[],['1041','1044']) ).

cnf('1046',plain,
    m_state_v_TRM(c_s,s8,c_idle),
    inference(resolution,[then_simplify],['1042','1043','1045']) ).

cnf('1047',plain,
    node28(c_s,s7,s8),
    inference(resolution,[],['293','1011']) ).

cnf('1048',plain,
    ( m_state_v_TRM(c_s,s7,c_counterclockwise)
    | node27(c_s,s7,s8)
    | m_state_v_TRM(c_s,s7,c_clockwise) ),
    inference(resolution,[],['1047','289']) ).

cnf('1049',plain,
    ~ m_state_v_TRM(c_s,s7,c_clockwise),
    inference(resolution,[],['1030','1033']) ).

cnf('1050',plain,
    node27(c_s,s7,s8),
    inference(resolution,[then_simplify],['1031','1048','1049']) ).

cnf('1051',plain,
    ( ~ node27(X,Y,Z)
    | ~ m_state_v_maxRot(X,Y)
    | m_state_v_maxRot(X,Z) ),
    inference(cnf_transformation,[],[m_Sensor_30]) ).

cnf('1052',plain,
    node28(c_s,s6,s7),
    inference(resolution,[],['293','856']) ).

cnf('1053',plain,
    ( m_state_v_TRM(c_s,s6,c_counterclockwise)
    | m_state_v_TRM(c_s,s6,c_clockwise)
    | node27(c_s,s6,s7) ),
    inference(resolution,[],['1052','289']) ).

cnf('1054',plain,
    node27(c_s,s6,s7),
    inference(resolution,[then_simplify],['1000','1053','1004']) ).

cnf('1055',plain,
    node28(c_s,s5,s6),
    inference(resolution,[],['293','710']) ).

cnf('1056',plain,
    ( m_state_v_TRM(c_s,s5,c_counterclockwise)
    | m_state_v_TRM(c_s,s5,c_clockwise)
    | node27(c_s,s5,s6) ),
    inference(resolution,[],['1055','289']) ).

cnf('1057',plain,
    node27(c_s,s5,s6),
    inference(resolution,[then_simplify],['845','1056','849']) ).

cnf('1058',plain,
    node28(c_s,s4,s5),
    inference(resolution,[],['293','626']) ).

cnf('1059',plain,
    ( m_state_v_TRM(c_s,s4,c_counterclockwise)
    | m_state_v_TRM(c_s,s4,c_clockwise)
    | node27(c_s,s4,s5) ),
    inference(resolution,[],['1058','289']) ).

cnf('1060',plain,
    node27(c_s,s4,s5),
    inference(resolution,[then_simplify],['699','1059','703']) ).

cnf('1061',plain,
    node28(c_s,s3,s4),
    inference(resolution,[],['293','316']) ).

cnf('1062',plain,
    ( m_state_v_TRM(c_s,s3,c_counterclockwise)
    | m_state_v_TRM(c_s,s3,c_clockwise)
    | node27(c_s,s3,s4) ),
    inference(resolution,[],['1061','289']) ).

cnf('1063',plain,
    node27(c_s,s3,s4),
    inference(resolution,[then_simplify],['614','1062','618']) ).

cnf('1064',plain,
    node28(c_s,s2,s3),
    inference(resolution,[],['293','98']) ).

cnf('1065',plain,
    ( ~ m_state_v_TRM(c_s,s2,c_clockwise)
    | m_state_v_maxRot(c_s,s3) ),
    inference(resolution,[],['1064','581']) ).

cnf('1066',plain,
    m_state_v_maxRot(c_s,s3),
    inference(resolution,[],['309','1065']) ).

cnf('1067',plain,
    m_state_v_maxRot(c_s,s4),
    inference(resolution,[then_simplify],['1063','1051','1066']) ).

cnf('1068',plain,
    m_state_v_maxRot(c_s,s5),
    inference(resolution,[then_simplify],['1060','1051','1067']) ).

cnf('1069',plain,
    m_state_v_maxRot(c_s,s6),
    inference(resolution,[then_simplify],['1057','1051','1068']) ).

cnf('1070',plain,
    m_state_v_maxRot(c_s,s7),
    inference(resolution,[then_simplify],['1054','1051','1069']) ).

cnf('1071',plain,
    m_state_v_maxRot(c_s,s8),
    inference(resolution,[then_simplify],['1050','1051','1070']) ).

cnf('1072',plain,
    node22(c_s,s7,s8),
    inference(resolution,[],['55','1011']) ).

cnf('1073',plain,
    ( m_state_v_TEM(c_s,s7,c_up)
    | node21(c_s,s7,s8)
    | m_state_v_TEM(c_s,s7,c_down) ),
    inference(resolution,[],['1072','48']) ).

cnf('1074',plain,
    ~ m_state_v_TEM(c_s,s7,c_up),
    inference(resolution,[],['858','861']) ).

cnf('1075',plain,
    node21(c_s,s7,s8),
    inference(resolution,[then_simplify],['859','1073','1074']) ).

cnf('1076',plain,
    ( ~ node21(X,Y,Z)
    | ~ m_state_v_topPos(X,Y)
    | m_state_v_topPos(X,Z) ),
    inference(cnf_transformation,[],[m_Sensor_12]) ).

cnf('1077',plain,
    node22(c_s,s6,s7),
    inference(resolution,[],['55','856']) ).

cnf('1078',plain,
    ( m_state_v_TEM(c_s,s6,c_up)
    | node21(c_s,s6,s7)
    | m_state_v_TEM(c_s,s6,c_down) ),
    inference(resolution,[],['1077','48']) ).

cnf('1079',plain,
    node21(c_s,s6,s7),
    inference(resolution,[then_simplify],['713','1078','866']) ).

cnf('1080',plain,
    node22(c_s,s5,s6),
    inference(resolution,[],['55','710']) ).

cnf('1081',plain,
    ( m_state_v_TEM(c_s,s5,c_up)
    | node21(c_s,s5,s6)
    | m_state_v_TEM(c_s,s5,c_down) ),
    inference(resolution,[],['1080','48']) ).

cnf('1082',plain,
    node21(c_s,s5,s6),
    inference(resolution,[then_simplify],['629','1081','720']) ).

cnf('1083',plain,
    node22(c_s,s4,s5),
    inference(resolution,[],['55','626']) ).

cnf('1084',plain,
    ( m_state_v_TEM(c_s,s4,c_up)
    | node21(c_s,s4,s5)
    | m_state_v_TEM(c_s,s4,c_down) ),
    inference(resolution,[],['1083','48']) ).

cnf('1085',plain,
    node21(c_s,s4,s5),
    inference(resolution,[then_simplify],['325','1084','636']) ).

cnf('1086',plain,
    node22(c_s,s3,s4),
    inference(resolution,[],['55','316']) ).

cnf('1087',plain,
    ( m_state_v_TEM(c_s,s3,c_up)
    | node21(c_s,s3,s4)
    | m_state_v_TEM(c_s,s3,c_down) ),
    inference(resolution,[],['1086','48']) ).

cnf('1088',plain,
    node21(c_s,s3,s4),
    inference(resolution,[then_simplify],['319','1087','330']) ).

cnf('1089',plain,
    node22(c_s,s2,s3),
    inference(resolution,[],['55','98']) ).

cnf('1090',plain,
    ( ~ m_state_v_TEM(c_s,s2,c_up)
    | m_state_v_topPos(c_s,s3) ),
    inference(resolution,[],['1089','83']) ).

cnf('1091',plain,
    m_state_v_topPos(c_s,s3),
    inference(resolution,[],['80','1090']) ).

cnf('1092',plain,
    m_state_v_topPos(c_s,s4),
    inference(resolution,[then_simplify],['1088','1076','1091']) ).

cnf('1093',plain,
    m_state_v_topPos(c_s,s5),
    inference(resolution,[then_simplify],['1085','1076','1092']) ).

cnf('1094',plain,
    m_state_v_topPos(c_s,s6),
    inference(resolution,[then_simplify],['1082','1076','1093']) ).

cnf('1095',plain,
    m_state_v_topPos(c_s,s7),
    inference(resolution,[then_simplify],['1079','1076','1094']) ).

cnf('1096',plain,
    m_state_v_topPos(c_s,s8),
    inference(resolution,[then_simplify],['1075','1076','1095']) ).

cnf('1097',plain,
    ~ m_state_v_TEM(c_s,s8,c_up),
    inference(resolution,[],['1013','1016']) ).

cnf('1098',plain,
    ~ node171(c_s,s8),
    inference(resolution,[],['1097','102']) ).

cnf('1099',plain,
    ~ node124(c_s,s5),
    inference(resolution,[],['890','182']) ).

cnf('1100',plain,
    ( ~ node131(X,Y,Z)
    | ~ m_state_v_A1Mag(X,Y,c_on)
    | ~ m_state_v_a1ext(X,Y,c_ot)
    | ~ m_state_v_A1M(X,Y,c_idle)
    | ~ m_state_v_angle(X,Y,c_arm1totable)
    | m_state_v_A1M(X,Z,c_retract)
    | node125(X,Y)
    | node124(X,Y)
    | node123(X,Y)
    | node122(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_49]) ).

cnf('1101',plain,
    ( ~ node145(X,Y,Z)
    | ~ m_state_v_a1ext(X,Y,c_ot)
    | ~ m_state_v_A1M(X,Y,c_extend)
    | ~ m_state_v_angle(X,Y,c_arm1totable)
    | m_state_v_A1Mag(X,Z,c_on) ),
    inference(cnf_transformation,[],[m_Robot_115]) ).

cnf('1102',plain,
    ( ~ node145(c_s,s4,X)
    | m_state_v_A1Mag(c_s,X,c_on) ),
    inference(resolution,[then_simplify],['792','1101','882','825']) ).

cnf('1103',plain,
    node145(c_s,s4,s5),
    inference(resolution,[],['437','626']) ).

cnf('1104',plain,
    m_state_v_A1Mag(c_s,s5,c_on),
    inference(resolution,[],['1102','1103']) ).

cnf('1105',plain,
    m_state_v_a1ext(c_s,s5,c_ot),
    inference(resolution,[then_simplify],['792','794','825']) ).

cnf('1106',plain,
    m_state_v_A1M(c_s,s5,c_idle),
    inference(resolution,[],['887','888']) ).

cnf('1107',plain,
    ( ~ node41(c_s,s4,X)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['970','644']) ).

cnf('1108',plain,
    ~ m_state_v_angle(c_s,s5,c_arm2topress),
    inference(resolution,[],['1107','977']) ).

cnf('1109',plain,
    ( ~ node41(c_s,s4,X)
    | ~ m_state_v_angle(c_s,X,c_arm2todepbelt) ),
    inference(resolution,[],['973','644']) ).

cnf('1110',plain,
    ~ m_state_v_angle(c_s,s5,c_arm2todepbelt),
    inference(resolution,[],['1109','977']) ).

cnf('1111',plain,
    m_state_v_angle(c_s,s5,c_arm1totable),
    inference(resolution,[then_simplify],['978','657','1108','1110']) ).

cnf('1112',plain,
    ( ~ m_state_v_a1ext(X,Y,c_a1ip)
    | ~ m_state_v_a1ext(X,Y,c_ot) ),
    inference(cnf_transformation,[],[m_state_44]) ).

cnf('1113',plain,
    ~ m_state_v_a1ext(c_s,s5,c_a1ip),
    inference(resolution,[],['826','1112']) ).

cnf('1114',plain,
    ~ node125(c_s,s5),
    inference(resolution,[],['1113','242']) ).

cnf('1115',plain,
    ~ node123(c_s,s5),
    inference(resolution,[],['827','883']) ).

cnf('1116',plain,
    ~ node122(c_s,s5),
    inference(resolution,[],['827','885']) ).

cnf('1117',plain,
    ( ~ node131(c_s,s5,X)
    | m_state_v_A1M(c_s,X,c_retract) ),
    inference(resolution,[then_simplify],['1099','1100','1104','1105','1106','1111','1114','1115','1116']) ).

cnf('1118',plain,
    node131(c_s,s5,s6),
    inference(resolution,[],['161','710']) ).

cnf('1119',plain,
    m_state_v_A1M(c_s,s6,c_retract),
    inference(resolution,[],['1117','1118']) ).

cnf('1120',plain,
    ~ m_state_v_A1M(c_s,s6,c_extend),
    inference(resolution,[],['1119','587']) ).

cnf('1121',plain,
    ~ node124(c_s,s6),
    inference(resolution,[],['1120','182']) ).

cnf('1122',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node129(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_42]) ).

cnf('1123',plain,
    ~ node129(c_s,s6),
    inference(resolution,[],['982','1122']) ).

cnf('1124',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node128(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_39]) ).

cnf('1125',plain,
    ~ node128(c_s,s6),
    inference(resolution,[],['982','1124']) ).

cnf('1126',plain,
    ~ m_state_v_a1ext(c_s,s6,c_a1ip),
    inference(resolution,[],['981','1112']) ).

cnf('1127',plain,
    ~ node127(c_s,s6),
    inference(resolution,[],['1126','171']) ).

cnf('1128',plain,
    ~ m_state_v_A1M(c_s,s6,c_idle),
    inference(resolution,[],['1119','23']) ).

cnf('1129',plain,
    ( m_state_v_A1M(X,Y,c_idle)
    | ~ node126(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_31]) ).

cnf('1130',plain,
    ~ node126(c_s,s6),
    inference(resolution,[],['1128','1129']) ).

cnf('1131',plain,
    ~ node125(c_s,s6),
    inference(resolution,[],['1126','242']) ).

cnf('1132',plain,
    ~ node123(c_s,s6),
    inference(resolution,[],['982','883']) ).

cnf('1133',plain,
    ~ node122(c_s,s6),
    inference(resolution,[],['982','885']) ).

cnf('1134',plain,
    ( ~ node131(c_s,s6,X)
    | node130(c_s,s6,X) ),
    inference(resolution,[then_simplify],['1121','163','1123','1125','1127','1130','1131','1132','1133']) ).

cnf('1135',plain,
    node131(c_s,s6,s7),
    inference(resolution,[],['161','856']) ).

cnf('1136',plain,
    node130(c_s,s6,s7),
    inference(resolution,[],['1134','1135']) ).

cnf('1137',plain,
    ( ~ node130(c_s,s6,X)
    | m_state_v_A1M(c_s,X,c_retract) ),
    inference(resolution,[],['1119','790']) ).

cnf('1138',plain,
    m_state_v_A1M(c_s,s7,c_retract),
    inference(resolution,[],['1136','1137']) ).

cnf('1139',plain,
    ( ~ node41(c_s,s5,X)
    | ~ m_state_v_angle(c_s,X,c_arm1topress) ),
    inference(resolution,[],['978','644']) ).

cnf('1140',plain,
    ~ m_state_v_RRM(c_s,s3,c_clockwise),
    inference(resolution,[],['809','814']) ).

cnf('1141',plain,
    m_state_v_RRM(c_s,s3,c_idle),
    inference(resolution,[then_simplify],['810','486','1140']) ).

cnf('1142',plain,
    ( ~ node158(X,Y,Z)
    | ~ m_state_v_RRM(X,Y,U)
    | m_state_v_RRM(X,Z,U) ),
    inference(cnf_transformation,[],[m_Robot_175]) ).

cnf('1143',plain,
    ( ~ node158(c_s,s3,X)
    | m_state_v_RRM(c_s,X,c_idle) ),
    inference(resolution,[],['1141','1142']) ).

cnf('1144',plain,
    m_state_v_RRM(c_s,s4,c_idle),
    inference(resolution,[],['962','1143']) ).

cnf('1145',plain,
    ( ~ node158(c_s,s4,X)
    | m_state_v_RRM(c_s,X,c_idle) ),
    inference(resolution,[],['1144','1142']) ).

cnf('1146',plain,
    ~ node139(c_s,s3),
    inference(resolution,[],['957','494']) ).

cnf('1147',plain,
    ~ node138(c_s,s3),
    inference(resolution,[],['957','496']) ).

cnf('1148',plain,
    ( ~ node35(c_s,s2,X)
    | ~ m_state_v_a2ext(c_s,X,c_ob) ),
    inference(resolution,[],['914','912']) ).

cnf('1149',plain,
    node36(c_s,s2,s3),
    inference(resolution,[],['403','98']) ).

cnf('1150',plain,
    ( m_state_v_A2M(c_s,s2,c_retract)
    | node35(c_s,s2,s3)
    | node33(c_s,s2)
    | node34(c_s,s2) ),
    inference(resolution,[],['1149','394']) ).

cnf('1151',plain,
    ~ m_state_v_A2M(c_s,s2,c_retract),
    inference(resolution,[],['558','516']) ).

cnf('1152',plain,
    ~ node33(c_s,s2),
    inference(resolution,[],['919','399']) ).

cnf('1153',plain,
    ~ node34(c_s,s2),
    inference(resolution,[],['919','397']) ).

cnf('1154',plain,
    node35(c_s,s2,s3),
    inference(simplify,[then_simplify],['1150','1151','1152','1153']) ).

cnf('1155',plain,
    ~ m_state_v_a2ext(c_s,s3,c_ob),
    inference(resolution,[],['1148','1154']) ).

cnf('1156',plain,
    ~ node137(c_s,s3),
    inference(resolution,[],['1155','499']) ).

cnf('1157',plain,
    ( ~ node35(c_s,s2,X)
    | ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
    inference(resolution,[],['917','912']) ).

cnf('1158',plain,
    ~ m_state_v_a2ext(c_s,s3,c_a2ip),
    inference(resolution,[],['1157','1154']) ).

cnf('1159',plain,
    ~ node136(c_s,s3),
    inference(resolution,[],['1158','532']) ).

cnf('1160',plain,
    ~ node135(c_s,s3),
    inference(resolution,[],['1155','534']) ).

cnf('1161',plain,
    ~ node134(c_s,s3),
    inference(resolution,[],['1158','536']) ).

cnf('1162',plain,
    ( m_state_v_A1Mag(X,Y,c_on)
    | ~ node133(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_72]) ).

cnf('1163',plain,
    ~ node133(c_s,s3),
    inference(resolution,[],['904','1162']) ).

cnf('1164',plain,
    ~ node132(c_s,s3),
    inference(resolution,[],['904','510']) ).

cnf('1165',plain,
    ( ~ node141(c_s,s3,X)
    | node140(c_s,s3,X) ),
    inference(resolution,[then_simplify],['1146','493','1147','1156','1159','1160','1161','1163','1164']) ).

cnf('1166',plain,
    node141(c_s,s3,s4),
    inference(resolution,[],['491','316']) ).

cnf('1167',plain,
    node140(c_s,s3,s4),
    inference(resolution,[],['1165','1166']) ).

cnf('1168',plain,
    ( ~ node140(c_s,s3,X)
    | ~ m_state_v_A2M(c_s,X,c_retract) ),
    inference(resolution,[],['957','514']) ).

cnf('1169',plain,
    ~ m_state_v_A2M(c_s,s4,c_retract),
    inference(resolution,[],['1167','1168']) ).

cnf('1170',plain,
    ~ node152(c_s,s4),
    inference(resolution,[],['1169','353']) ).

cnf('1171',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node157(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_167]) ).

cnf('1172',plain,
    ~ node157(c_s,s4),
    inference(resolution,[],['668','1171']) ).

cnf('1173',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node156(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_159]) ).

cnf('1174',plain,
    ~ node156(c_s,s4),
    inference(resolution,[],['668','1173']) ).

cnf('1175',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node155(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_151]) ).

cnf('1176',plain,
    ~ node155(c_s,s4),
    inference(resolution,[],['668','1175']) ).

cnf('1177',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node154(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_143]) ).

cnf('1178',plain,
    ~ node154(c_s,s4),
    inference(resolution,[],['668','1177']) ).

cnf('1179',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node153(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_142]) ).

cnf('1180',plain,
    ~ node153(c_s,s4),
    inference(resolution,[],['668','1179']) ).

cnf('1181',plain,
    ~ node151(c_s,s4),
    inference(resolution,[],['1169','355']) ).

cnf('1182',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node150(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_133]) ).

cnf('1183',plain,
    ~ node150(c_s,s4),
    inference(resolution,[],['668','1182']) ).

cnf('1184',plain,
    ( ~ node159(c_s,s4,X)
    | node158(c_s,s4,X) ),
    inference(resolution,[then_simplify],['1170','339','1172','1174','1176','1178','1180','1181','1183']) ).

cnf('1185',plain,
    node159(c_s,s4,s5),
    inference(resolution,[],['337','626']) ).

cnf('1186',plain,
    node158(c_s,s4,s5),
    inference(resolution,[],['1184','1185']) ).

cnf('1187',plain,
    m_state_v_RRM(c_s,s5,c_idle),
    inference(resolution,[],['1145','1186']) ).

cnf('1188',plain,
    ~ m_state_v_RRM(c_s,s5,c_counterclock),
    inference(resolution,[],['1187','196']) ).

cnf('1189',plain,
    ~ node37(c_s,s5),
    inference(resolution,[],['1188','208']) ).

cnf('1190',plain,
    node48(c_s,s4,s5),
    inference(resolution,[],['367','626']) ).

cnf('1191',plain,
    ( ~ m_state_v_angle(c_s,s4,c_arm1totable)
    | ~ m_state_v_RRM(c_s,s4,c_idle)
    | m_state_v_angle_status(c_s,s5,c_arm1stoppedattable) ),
    inference(resolution,[],['1190','369']) ).

cnf('1192',plain,
    m_state_v_RRM(c_s,s4,c_idle),
    inference(resolution,[],['962','1143']) ).

cnf('1193',plain,
    m_state_v_angle_status(c_s,s5,c_arm1stoppedattable),
    inference(simplify,[then_simplify],['1191','825','1192']) ).

cnf('1194',plain,
    ~ m_state_v_angle_status(c_s,s5,c_arm2stoppedatpress),
    inference(resolution,[],['1193','380']) ).

cnf('1195',plain,
    ~ node38(c_s,s5),
    inference(resolution,[],['1194','382']) ).

cnf('1196',plain,
    node42(c_s,s5,s6),
    inference(resolution,[],['212','710']) ).

cnf('1197',plain,
    ( node41(c_s,s5,s6)
    | node37(c_s,s5)
    | node38(c_s,s5)
    | node39(c_s,s5)
    | node40(c_s,s5) ),
    inference(resolution,[],['1196','201']) ).

cnf('1198',plain,
    ~ m_state_v_angle_status(c_s,s5,c_arm2stoppedatbelt),
    inference(resolution,[],['1193','376']) ).

cnf('1199',plain,
    ~ node39(c_s,s5),
    inference(resolution,[],['1198','378']) ).

cnf('1200',plain,
    ~ m_state_v_angle_status(c_s,s5,c_arm1stoppedatpress),
    inference(resolution,[],['1193','365']) ).

cnf('1201',plain,
    ~ node40(c_s,s5),
    inference(resolution,[],['1200','374']) ).

cnf('1202',plain,
    ( node41(c_s,s5,s6)
    | node37(c_s,s5) ),
    inference(resolution,[then_simplify],['1195','1197','1199','1201']) ).

cnf('1203',plain,
    node41(c_s,s5,s6),
    inference(resolution,[],['1189','1202']) ).

cnf('1204',plain,
    ~ m_state_v_angle(c_s,s6,c_arm1topress),
    inference(resolution,[],['1139','1203']) ).

cnf('1205',plain,
    ( ~ node41(c_s,s6,X)
    | ~ m_state_v_angle(c_s,X,c_arm1topress) ),
    inference(resolution,[],['1204','644']) ).

cnf('1206',plain,
    ( ~ node158(c_s,s5,X)
    | m_state_v_RRM(c_s,X,c_idle) ),
    inference(resolution,[],['1187','1142']) ).

cnf('1207',plain,
    ~ node139(c_s,s4),
    inference(resolution,[],['1169','494']) ).

cnf('1208',plain,
    ~ node138(c_s,s4),
    inference(resolution,[],['1169','496']) ).

cnf('1209',plain,
    ( ~ node35(c_s,s3,X)
    | ~ m_state_v_a2ext(c_s,X,c_ob) ),
    inference(resolution,[],['1155','912']) ).

cnf('1210',plain,
    ( ~ node140(c_s,s2,X)
    | ~ m_state_v_A2M(c_s,X,c_extend) ),
    inference(resolution,[],['919','514']) ).

cnf('1211',plain,
    ~ m_state_v_A2M(c_s,s3,c_extend),
    inference(resolution,[],['955','1210']) ).

cnf('1212',plain,
    ~ node34(c_s,s3),
    inference(resolution,[],['1211','397']) ).

cnf('1213',plain,
    node36(c_s,s3,s4),
    inference(resolution,[],['403','316']) ).

cnf('1214',plain,
    ( m_state_v_A2M(c_s,s3,c_retract)
    | node35(c_s,s3,s4)
    | node33(c_s,s3)
    | node34(c_s,s3) ),
    inference(resolution,[],['1213','394']) ).

cnf('1215',plain,
    ~ m_state_v_A2M(c_s,s3,c_retract),
    inference(resolution,[],['955','956']) ).

cnf('1216',plain,
    ~ node33(c_s,s3),
    inference(resolution,[],['1211','399']) ).

cnf('1217',plain,
    node35(c_s,s3,s4),
    inference(resolution,[then_simplify],['1212','1214','1215','1216']) ).

cnf('1218',plain,
    ~ m_state_v_a2ext(c_s,s4,c_ob),
    inference(resolution,[],['1209','1217']) ).

cnf('1219',plain,
    ~ node137(c_s,s4),
    inference(resolution,[],['1218','499']) ).

cnf('1220',plain,
    ( ~ node35(c_s,s3,X)
    | ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
    inference(resolution,[],['1158','912']) ).

cnf('1221',plain,
    ~ m_state_v_a2ext(c_s,s4,c_a2ip),
    inference(resolution,[],['1220','1217']) ).

cnf('1222',plain,
    ~ node136(c_s,s4),
    inference(resolution,[],['1221','532']) ).

cnf('1223',plain,
    ~ node135(c_s,s4),
    inference(resolution,[],['1218','534']) ).

cnf('1224',plain,
    ~ node134(c_s,s4),
    inference(resolution,[],['1221','536']) ).

cnf('1225',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node133(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_67]) ).

cnf('1226',plain,
    ~ node133(c_s,s4),
    inference(resolution,[],['668','1225']) ).

cnf('1227',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node132(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_56]) ).

cnf('1228',plain,
    ~ node132(c_s,s4),
    inference(resolution,[],['668','1227']) ).

cnf('1229',plain,
    ( ~ node141(c_s,s4,X)
    | node140(c_s,s4,X) ),
    inference(resolution,[then_simplify],['1207','493','1208','1219','1222','1223','1224','1226','1228']) ).

cnf('1230',plain,
    node141(c_s,s4,s5),
    inference(resolution,[],['491','626']) ).

cnf('1231',plain,
    node140(c_s,s4,s5),
    inference(resolution,[],['1229','1230']) ).

cnf('1232',plain,
    ( ~ node140(c_s,s4,X)
    | ~ m_state_v_A2M(c_s,X,c_retract) ),
    inference(resolution,[],['1169','514']) ).

cnf('1233',plain,
    ~ m_state_v_A2M(c_s,s5,c_retract),
    inference(resolution,[],['1231','1232']) ).

cnf('1234',plain,
    ~ node152(c_s,s5),
    inference(resolution,[],['1233','353']) ).

cnf('1235',plain,
    ~ node157(c_s,s5),
    inference(resolution,[],['827','1171']) ).

cnf('1236',plain,
    ~ node156(c_s,s5),
    inference(resolution,[],['827','1173']) ).

cnf('1237',plain,
    ~ node155(c_s,s5),
    inference(resolution,[],['827','1175']) ).

cnf('1238',plain,
    ~ node154(c_s,s5),
    inference(resolution,[],['827','1177']) ).

cnf('1239',plain,
    ~ node153(c_s,s5),
    inference(resolution,[],['827','1179']) ).

cnf('1240',plain,
    ~ node151(c_s,s5),
    inference(resolution,[],['1233','355']) ).

cnf('1241',plain,
    ~ node150(c_s,s5),
    inference(resolution,[],['827','1182']) ).

cnf('1242',plain,
    ( ~ node159(c_s,s5,X)
    | node158(c_s,s5,X) ),
    inference(resolution,[then_simplify],['1234','339','1235','1236','1237','1238','1239','1240','1241']) ).

cnf('1243',plain,
    node159(c_s,s5,s6),
    inference(resolution,[],['337','710']) ).

cnf('1244',plain,
    node158(c_s,s5,s6),
    inference(resolution,[],['1242','1243']) ).

cnf('1245',plain,
    m_state_v_RRM(c_s,s6,c_idle),
    inference(resolution,[],['1206','1244']) ).

cnf('1246',plain,
    ~ m_state_v_RRM(c_s,s6,c_counterclock),
    inference(resolution,[],['1245','196']) ).

cnf('1247',plain,
    ~ node37(c_s,s6),
    inference(resolution,[],['1246','208']) ).

cnf('1248',plain,
    node48(c_s,s5,s6),
    inference(resolution,[],['367','710']) ).

cnf('1249',plain,
    ( ~ m_state_v_angle(c_s,s5,c_arm1totable)
    | ~ m_state_v_RRM(c_s,s5,c_idle)
    | m_state_v_angle_status(c_s,s6,c_arm1stoppedattable) ),
    inference(resolution,[],['1248','369']) ).

cnf('1250',plain,
    m_state_v_angle_status(c_s,s6,c_arm1stoppedattable),
    inference(resolution,[then_simplify],['1187','1249','1111']) ).

cnf('1251',plain,
    ~ m_state_v_angle_status(c_s,s6,c_arm2stoppedatpress),
    inference(resolution,[],['1250','380']) ).

cnf('1252',plain,
    ~ node38(c_s,s6),
    inference(resolution,[],['1251','382']) ).

cnf('1253',plain,
    node42(c_s,s6,s7),
    inference(resolution,[],['212','856']) ).

cnf('1254',plain,
    ( node41(c_s,s6,s7)
    | node37(c_s,s6)
    | node38(c_s,s6)
    | node39(c_s,s6)
    | node40(c_s,s6) ),
    inference(resolution,[],['1253','201']) ).

cnf('1255',plain,
    ~ m_state_v_angle_status(c_s,s6,c_arm2stoppedatbelt),
    inference(resolution,[],['1250','376']) ).

cnf('1256',plain,
    ~ node39(c_s,s6),
    inference(resolution,[],['1255','378']) ).

cnf('1257',plain,
    ~ m_state_v_angle_status(c_s,s6,c_arm1stoppedatpress),
    inference(resolution,[],['1250','365']) ).

cnf('1258',plain,
    ~ node40(c_s,s6),
    inference(resolution,[],['1257','374']) ).

cnf('1259',plain,
    ( node41(c_s,s6,s7)
    | node37(c_s,s6) ),
    inference(resolution,[then_simplify],['1252','1254','1256','1258']) ).

cnf('1260',plain,
    node41(c_s,s6,s7),
    inference(resolution,[],['1247','1259']) ).

cnf('1261',plain,
    ~ m_state_v_angle(c_s,s7,c_arm1topress),
    inference(resolution,[],['1205','1260']) ).

cnf('1262',plain,
    ~ m_state_v_angle(c_s,s5,c_arm2topress),
    inference(resolution,[],['1107','977']) ).

cnf('1263',plain,
    ( ~ node41(c_s,s5,X)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['1262','644']) ).

cnf('1264',plain,
    ~ m_state_v_angle(c_s,s6,c_arm2topress),
    inference(resolution,[],['1263','1203']) ).

cnf('1265',plain,
    ( ~ node41(c_s,s6,X)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['1264','644']) ).

cnf('1266',plain,
    ~ m_state_v_angle(c_s,s7,c_arm2topress),
    inference(resolution,[],['1265','1260']) ).

cnf('1267',plain,
    ~ m_state_v_angle(c_s,s5,c_arm2todepbelt),
    inference(resolution,[],['1109','977']) ).

cnf('1268',plain,
    ( ~ node41(c_s,s5,X)
    | ~ m_state_v_angle(c_s,X,c_arm2todepbelt) ),
    inference(resolution,[],['1267','644']) ).

cnf('1269',plain,
    ~ m_state_v_angle(c_s,s6,c_arm2todepbelt),
    inference(resolution,[],['1268','1203']) ).

cnf('1270',plain,
    ( ~ node41(c_s,s6,X)
    | ~ m_state_v_angle(c_s,X,c_arm2todepbelt) ),
    inference(resolution,[],['1269','644']) ).

cnf('1271',plain,
    ~ m_state_v_angle(c_s,s7,c_arm2todepbelt),
    inference(resolution,[],['1270','1260']) ).

cnf('1272',plain,
    m_state_v_angle(c_s,s7,c_arm1totable),
    inference(resolution,[then_simplify],['1261','657','1266','1271']) ).

cnf('1273',plain,
    node4(c_s,s7,s8),
    inference(resolution,[],['36','1011']) ).

cnf('1274',plain,
    ( ~ node4(X,Y,Z)
    | ~ m_state_v_a1ext(X,Y,c_retracted)
    | ~ m_state_v_A1M(X,Y,c_retract)
    | ~ m_state_v_angle(X,Y,c_arm1totable)
    | ~ m_state_v_tl(X,Z) ),
    inference(cnf_transformation,[],[m_Communication_9]) ).

cnf('1275',plain,
    ( ~ m_state_v_a1ext(c_s,s7,c_retracted)
    | ~ m_state_v_angle(c_s,s7,c_arm1totable)
    | ~ m_state_v_A1M(c_s,s7,c_retract)
    | ~ m_state_v_tl(c_s,s8) ),
    inference(resolution,[],['1273','1274']) ).

cnf('1276',plain,
    ~ node29(c_s,s6),
    inference(resolution,[],['1120','226']) ).

cnf('1277',plain,
    node32(c_s,s6,s7),
    inference(resolution,[],['230','856']) ).

cnf('1278',plain,
    ( ~ node32(X,Y,Z)
    | ~ m_state_v_A1M(X,Y,c_retract)
    | m_state_v_a1ext(X,Z,c_retracted)
    | node30(X,Y)
    | node29(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_44]) ).

cnf('1279',plain,
    ( ~ m_state_v_A1M(c_s,s6,c_retract)
    | m_state_v_a1ext(c_s,s7,c_retracted)
    | node29(c_s,s6)
    | node30(c_s,s6) ),
    inference(resolution,[],['1277','1278']) ).

cnf('1280',plain,
    m_state_v_A1M(c_s,s6,c_retract),
    inference(resolution,[],['1117','1118']) ).

cnf('1281',plain,
    ~ node30(c_s,s6),
    inference(resolution,[],['1204','569']) ).

cnf('1282',plain,
    m_state_v_a1ext(c_s,s7,c_retracted),
    inference(resolution,[then_simplify],['1276','1279','1280','1281']) ).

cnf('1283',plain,
    ( ~ m_state_v_A1M(c_s,s7,c_retract)
    | ~ m_state_v_tl(c_s,s8) ),
    inference(resolution,[then_simplify],['1272','1275','1282']) ).

cnf('1284',plain,
    ~ m_state_v_tl(c_s,s8),
    inference(resolution,[],['1138','1283']) ).

cnf('1285',plain,
    ( ~ node175(c_s,s8,X)
    | m_state_v_TEM(c_s,X,c_down) ),
    inference(resolution,[then_simplify],['1018','1021','1046','1071','1096','1098','1284']) ).

cnf('1286',plain,
    succ(s8,s9),
    inference(cnf_transformation,[],[bound9]) ).

cnf('1287',plain,
    trans(s8,s9),
    inference(resolution,[],['5','1286']) ).

cnf('1288',plain,
    node175(c_s,s8,s9),
    inference(resolution,[],['4','1287']) ).

cnf('1289',plain,
    m_state_v_TEM(c_s,s9,c_down),
    inference(resolution,[],['1285','1288']) ).

cnf('1290',plain,
    ( ~ node24(X,Y,Z)
    | ~ m_state_v_TEM(X,Y,c_down)
    | m_state_v_botPos(X,Z) ),
    inference(cnf_transformation,[],[m_Sensor_20]) ).

cnf('1291',plain,
    ( ~ node24(c_s,s9,X)
    | m_state_v_botPos(c_s,X) ),
    inference(resolution,[],['1289','1290']) ).

cnf('1292',plain,
    node24(c_s,s8,s9),
    inference(resolution,[],['105','1287']) ).

cnf('1293',plain,
    ( m_state_v_TEM(c_s,s8,c_up)
    | node23(c_s,s8,s9)
    | m_state_v_TEM(c_s,s8,c_down) ),
    inference(resolution,[],['1292','328']) ).

cnf('1294',plain,
    node23(c_s,s8,s9),
    inference(resolution,[then_simplify],['1014','1293','1017']) ).

cnf('1295',plain,
    node24(c_s,s7,s8),
    inference(resolution,[],['105','1011']) ).

cnf('1296',plain,
    ( m_state_v_TEM(c_s,s7,c_up)
    | node23(c_s,s7,s8)
    | m_state_v_TEM(c_s,s7,c_down) ),
    inference(resolution,[],['1295','328']) ).

cnf('1297',plain,
    node23(c_s,s7,s8),
    inference(resolution,[then_simplify],['859','1296','1074']) ).

cnf('1298',plain,
    ~ m_state_v_botPos(c_s,s7),
    inference(resolution,[then_simplify],['867','332','868']) ).

cnf('1299',plain,
    ~ m_state_v_botPos(c_s,s8),
    inference(resolution,[then_simplify],['1297','332','1298']) ).

cnf('1300',plain,
    ~ m_state_v_botPos(c_s,s9),
    inference(resolution,[then_simplify],['1294','332','1299']) ).

cnf('1301',plain,
    ~ node24(c_s,s9,s9),
    inference(resolution,[],['1291','1300']) ).

cnf('1302',plain,
    ( node24(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(factorization,[],['104']) ).

cnf('1303',plain,
    ~ trans(s9,s9),
    inference(resolution,[then_simplify],['1301','1302','54']) ).

cnf('1304',plain,
    ~ m_state_v_angle(c_s,s7,c_arm2topress),
    inference(resolution,[],['1265','1260']) ).

cnf('1305',plain,
    ( ~ node41(c_s,s7,X)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['1304','644']) ).

cnf('1306',plain,
    ( ~ node158(c_s,s6,X)
    | m_state_v_RRM(c_s,X,c_idle) ),
    inference(resolution,[],['1245','1142']) ).

cnf('1307',plain,
    ~ node139(c_s,s5),
    inference(resolution,[],['1233','494']) ).

cnf('1308',plain,
    ~ node138(c_s,s5),
    inference(resolution,[],['1233','496']) ).

cnf('1309',plain,
    ( ~ node35(c_s,s4,X)
    | ~ m_state_v_a2ext(c_s,X,c_ob) ),
    inference(resolution,[],['1218','912']) ).

cnf('1310',plain,
    ( ~ node140(c_s,s3,X)
    | ~ m_state_v_A2M(c_s,X,c_extend) ),
    inference(resolution,[],['1211','514']) ).

cnf('1311',plain,
    ~ m_state_v_A2M(c_s,s4,c_extend),
    inference(resolution,[],['1167','1310']) ).

cnf('1312',plain,
    ~ node34(c_s,s4),
    inference(resolution,[],['1311','397']) ).

cnf('1313',plain,
    node36(c_s,s4,s5),
    inference(resolution,[],['403','626']) ).

cnf('1314',plain,
    ( m_state_v_A2M(c_s,s4,c_retract)
    | node35(c_s,s4,s5)
    | node33(c_s,s4)
    | node34(c_s,s4) ),
    inference(resolution,[],['1313','394']) ).

cnf('1315',plain,
    ~ m_state_v_A2M(c_s,s4,c_retract),
    inference(resolution,[],['1167','1168']) ).

cnf('1316',plain,
    ~ node33(c_s,s4),
    inference(resolution,[],['1311','399']) ).

cnf('1317',plain,
    node35(c_s,s4,s5),
    inference(resolution,[then_simplify],['1312','1314','1315','1316']) ).

cnf('1318',plain,
    ~ m_state_v_a2ext(c_s,s5,c_ob),
    inference(resolution,[],['1309','1317']) ).

cnf('1319',plain,
    ~ node137(c_s,s5),
    inference(resolution,[],['1318','499']) ).

cnf('1320',plain,
    ( ~ node35(c_s,s4,X)
    | ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
    inference(resolution,[],['1221','912']) ).

cnf('1321',plain,
    ~ m_state_v_a2ext(c_s,s5,c_a2ip),
    inference(resolution,[],['1320','1317']) ).

cnf('1322',plain,
    ~ node136(c_s,s5),
    inference(resolution,[],['1321','532']) ).

cnf('1323',plain,
    ~ node135(c_s,s5),
    inference(resolution,[],['1318','534']) ).

cnf('1324',plain,
    ~ node134(c_s,s5),
    inference(resolution,[],['1321','536']) ).

cnf('1325',plain,
    ~ node133(c_s,s5),
    inference(resolution,[],['827','1225']) ).

cnf('1326',plain,
    ~ node132(c_s,s5),
    inference(resolution,[],['827','1227']) ).

cnf('1327',plain,
    ( ~ node141(c_s,s5,X)
    | node140(c_s,s5,X) ),
    inference(resolution,[then_simplify],['1307','493','1308','1319','1322','1323','1324','1325','1326']) ).

cnf('1328',plain,
    node141(c_s,s5,s6),
    inference(resolution,[],['491','710']) ).

cnf('1329',plain,
    node140(c_s,s5,s6),
    inference(resolution,[],['1327','1328']) ).

cnf('1330',plain,
    ( ~ node140(c_s,s5,X)
    | ~ m_state_v_A2M(c_s,X,c_retract) ),
    inference(resolution,[],['1233','514']) ).

cnf('1331',plain,
    ~ m_state_v_A2M(c_s,s6,c_retract),
    inference(resolution,[],['1329','1330']) ).

cnf('1332',plain,
    ~ node152(c_s,s6),
    inference(resolution,[],['1331','353']) ).

cnf('1333',plain,
    ~ node157(c_s,s6),
    inference(resolution,[],['982','1171']) ).

cnf('1334',plain,
    ~ node156(c_s,s6),
    inference(resolution,[],['982','1173']) ).

cnf('1335',plain,
    ~ node155(c_s,s6),
    inference(resolution,[],['982','1175']) ).

cnf('1336',plain,
    ~ node154(c_s,s6),
    inference(resolution,[],['982','1177']) ).

cnf('1337',plain,
    ~ node153(c_s,s6),
    inference(resolution,[],['982','1179']) ).

cnf('1338',plain,
    ~ node151(c_s,s6),
    inference(resolution,[],['1331','355']) ).

cnf('1339',plain,
    ~ node150(c_s,s6),
    inference(resolution,[],['982','1182']) ).

cnf('1340',plain,
    ( ~ node159(c_s,s6,X)
    | node158(c_s,s6,X) ),
    inference(resolution,[then_simplify],['1332','339','1333','1334','1335','1336','1337','1338','1339']) ).

cnf('1341',plain,
    node159(c_s,s6,s7),
    inference(resolution,[],['337','856']) ).

cnf('1342',plain,
    node158(c_s,s6,s7),
    inference(resolution,[],['1340','1341']) ).

cnf('1343',plain,
    m_state_v_RRM(c_s,s7,c_idle),
    inference(resolution,[],['1306','1342']) ).

cnf('1344',plain,
    ~ m_state_v_RRM(c_s,s7,c_counterclock),
    inference(resolution,[],['1343','196']) ).

cnf('1345',plain,
    ~ node37(c_s,s7),
    inference(resolution,[],['1344','208']) ).

cnf('1346',plain,
    node48(c_s,s6,s7),
    inference(resolution,[],['367','856']) ).

cnf('1347',plain,
    ( ~ m_state_v_angle(c_s,s6,c_arm1totable)
    | ~ m_state_v_RRM(c_s,s6,c_idle)
    | m_state_v_angle_status(c_s,s7,c_arm1stoppedattable) ),
    inference(resolution,[],['1346','369']) ).

cnf('1348',plain,
    ~ m_state_v_angle(c_s,s6,c_arm2topress),
    inference(resolution,[],['1263','1203']) ).

cnf('1349',plain,
    ~ m_state_v_angle(c_s,s6,c_arm2todepbelt),
    inference(resolution,[],['1268','1203']) ).

cnf('1350',plain,
    m_state_v_angle(c_s,s6,c_arm1totable),
    inference(resolution,[then_simplify],['1204','657','1348','1349']) ).

cnf('1351',plain,
    m_state_v_angle_status(c_s,s7,c_arm1stoppedattable),
    inference(resolution,[then_simplify],['1245','1347','1350']) ).

cnf('1352',plain,
    ~ m_state_v_angle_status(c_s,s7,c_arm2stoppedatpress),
    inference(resolution,[],['1351','380']) ).

cnf('1353',plain,
    ~ node38(c_s,s7),
    inference(resolution,[],['1352','382']) ).

cnf('1354',plain,
    node42(c_s,s7,s8),
    inference(resolution,[],['212','1011']) ).

cnf('1355',plain,
    ( node41(c_s,s7,s8)
    | node37(c_s,s7)
    | node38(c_s,s7)
    | node39(c_s,s7)
    | node40(c_s,s7) ),
    inference(resolution,[],['1354','201']) ).

cnf('1356',plain,
    ~ m_state_v_angle_status(c_s,s7,c_arm2stoppedatbelt),
    inference(resolution,[],['1351','376']) ).

cnf('1357',plain,
    ~ node39(c_s,s7),
    inference(resolution,[],['1356','378']) ).

cnf('1358',plain,
    ~ m_state_v_angle_status(c_s,s7,c_arm1stoppedatpress),
    inference(resolution,[],['1351','365']) ).

cnf('1359',plain,
    ~ node40(c_s,s7),
    inference(resolution,[],['1358','374']) ).

cnf('1360',plain,
    ( node41(c_s,s7,s8)
    | node37(c_s,s7) ),
    inference(resolution,[then_simplify],['1353','1355','1357','1359']) ).

cnf('1361',plain,
    node41(c_s,s7,s8),
    inference(resolution,[],['1345','1360']) ).

cnf('1362',plain,
    ~ m_state_v_angle(c_s,s8,c_arm2topress),
    inference(resolution,[],['1305','1361']) ).

cnf('1363',plain,
    ( ~ node41(c_s,X,s8)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['1362','215']) ).

cnf('1364',plain,
    ( ~ node159(X,Y,Z)
    | ~ m_state_v_a1ext(X,Y,c_retracted)
    | ~ m_state_v_A1M(X,Y,c_retract)
    | ~ m_state_v_angle(X,Y,c_arm1totable)
    | m_state_v_RRM(X,Z,c_counterclock) ),
    inference(cnf_transformation,[],[m_Robot_177]) ).

cnf('1365',plain,
    m_state_v_angle(c_s,s7,c_arm1totable),
    inference(resolution,[then_simplify],['1261','657','1266','1271']) ).

cnf('1366',plain,
    ( ~ node159(c_s,s7,X)
    | m_state_v_RRM(c_s,X,c_counterclock) ),
    inference(resolution,[then_simplify],['1138','1364','1282','1365']) ).

cnf('1367',plain,
    node159(c_s,s7,s8),
    inference(resolution,[],['337','1011']) ).

cnf('1368',plain,
    m_state_v_RRM(c_s,s8,c_counterclock),
    inference(resolution,[],['1366','1367']) ).

cnf('1369',plain,
    node42(c_s,s8,s9),
    inference(resolution,[],['212','1287']) ).

cnf('1370',plain,
    ( ~ node42(X,Y,Z)
    | ~ m_state_v_angle_status(X,Y,c_arm1stoppedattable)
    | ~ m_state_v_RRM(X,Y,c_counterclock)
    | ~ m_state_v_angle(X,Y,c_arm1totable)
    | m_state_v_angle(X,Z,c_arm2topress) ),
    inference(cnf_transformation,[],[m_Sensor_72]) ).

cnf('1371',plain,
    ( ~ m_state_v_angle(c_s,s8,c_arm1totable)
    | ~ m_state_v_RRM(c_s,s8,c_counterclock)
    | ~ m_state_v_angle_status(c_s,s8,c_arm1stoppedattable)
    | m_state_v_angle(c_s,s9,c_arm2topress) ),
    inference(resolution,[],['1369','1370']) ).

cnf('1372',plain,
    ( ~ node41(c_s,s7,X)
    | ~ m_state_v_angle(c_s,X,c_arm1topress) ),
    inference(resolution,[],['1261','644']) ).

cnf('1373',plain,
    ~ m_state_v_angle(c_s,s8,c_arm1topress),
    inference(resolution,[],['1372','1361']) ).

cnf('1374',plain,
    ~ m_state_v_angle(c_s,s8,c_arm2topress),
    inference(resolution,[],['1305','1361']) ).

cnf('1375',plain,
    ~ m_state_v_angle(c_s,s7,c_arm2todepbelt),
    inference(resolution,[],['1270','1260']) ).

cnf('1376',plain,
    ( ~ node41(c_s,s7,X)
    | ~ m_state_v_angle(c_s,X,c_arm2todepbelt) ),
    inference(resolution,[],['1375','644']) ).

cnf('1377',plain,
    ~ m_state_v_angle(c_s,s8,c_arm2todepbelt),
    inference(resolution,[],['1376','1361']) ).

cnf('1378',plain,
    m_state_v_angle(c_s,s8,c_arm1totable),
    inference(resolution,[then_simplify],['1373','657','1374','1377']) ).

cnf('1379',plain,
    node48(c_s,s7,s8),
    inference(resolution,[],['367','1011']) ).

cnf('1380',plain,
    ( ~ m_state_v_angle(c_s,s7,c_arm1totable)
    | ~ m_state_v_RRM(c_s,s7,c_idle)
    | m_state_v_angle_status(c_s,s8,c_arm1stoppedattable) ),
    inference(resolution,[],['1379','369']) ).

cnf('1381',plain,
    m_state_v_angle_status(c_s,s8,c_arm1stoppedattable),
    inference(resolution,[then_simplify],['1343','1380','1365']) ).

cnf('1382',plain,
    m_state_v_angle(c_s,s9,c_arm2topress),
    inference(resolution,[then_simplify],['1368','1371','1378','1381']) ).

cnf('1383',plain,
    ~ node41(c_s,s9,s8),
    inference(resolution,[],['1363','1382']) ).

cnf('1384',plain,
    ( ~ m_state_v_angle(X,Y,c_arm2topress)
    | ~ m_state_v_angle(X,Y,c_arm1topress) ),
    inference(cnf_transformation,[],[m_state_56]) ).

cnf('1385',plain,
    ~ m_state_v_angle(c_s,s9,c_arm1topress),
    inference(resolution,[],['1382','1384']) ).

cnf('1386',plain,
    ~ node40(c_s,s9),
    inference(resolution,[],['1385','966']) ).

cnf('1387',plain,
    ( ~ m_state_v_angle(X,Y,c_arm2topress)
    | ~ m_state_v_angle(X,Y,c_arm2todepbelt) ),
    inference(cnf_transformation,[],[m_state_55]) ).

cnf('1388',plain,
    ~ m_state_v_angle(c_s,s9,c_arm2todepbelt),
    inference(resolution,[],['1382','1387']) ).

cnf('1389',plain,
    ~ node39(c_s,s9),
    inference(resolution,[],['1388','974']) ).

cnf('1390',plain,
    ~ m_state_v_RRM(c_s,s8,c_idle),
    inference(resolution,[],['1368','196']) ).

cnf('1391',plain,
    ( m_state_v_RRM(X,Y,c_idle)
    | ~ node43(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_79]) ).

cnf('1392',plain,
    ~ node43(c_s,s8),
    inference(resolution,[],['1390','1391']) ).

cnf('1393',plain,
    ( m_state_v_angle(X,Y,c_arm1topress)
    | ~ node46(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_84]) ).

cnf('1394',plain,
    ~ node46(c_s,s8),
    inference(resolution,[],['1373','1393']) ).

cnf('1395',plain,
    node48(c_s,s8,s9),
    inference(resolution,[],['367','1287']) ).

cnf('1396',plain,
    ( ~ node48(X,Y,Z)
    | node47(X,Y,Z)
    | node46(X,Y)
    | node45(X,Y)
    | node44(X,Y)
    | node43(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_92]) ).

cnf('1397',plain,
    ( node47(c_s,s8,s9)
    | node43(c_s,s8)
    | node44(c_s,s8)
    | node45(c_s,s8)
    | node46(c_s,s8) ),
    inference(resolution,[],['1395','1396']) ).

cnf('1398',plain,
    ( m_state_v_angle(X,Y,c_arm2topress)
    | ~ node44(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_80]) ).

cnf('1399',plain,
    ~ node44(c_s,s8),
    inference(resolution,[],['1362','1398']) ).

cnf('1400',plain,
    ~ m_state_v_angle(c_s,s8,c_arm2todepbelt),
    inference(resolution,[],['1376','1361']) ).

cnf('1401',plain,
    ( m_state_v_angle(X,Y,c_arm2todepbelt)
    | ~ node45(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_82]) ).

cnf('1402',plain,
    ~ node45(c_s,s8),
    inference(resolution,[],['1400','1401']) ).

cnf('1403',plain,
    ( node47(c_s,s8,s9)
    | node43(c_s,s8) ),
    inference(resolution,[then_simplify],['1394','1397','1399','1402']) ).

cnf('1404',plain,
    node47(c_s,s8,s9),
    inference(resolution,[],['1392','1403']) ).

cnf('1405',plain,
    m_state_v_angle_status(c_s,s8,c_arm1stoppedattable),
    inference(resolution,[then_simplify],['1343','1380','1365']) ).

cnf('1406',plain,
    ~ m_state_v_angle_status(c_s,s8,c_arm2stoppedatpress),
    inference(resolution,[],['1405','380']) ).

cnf('1407',plain,
    ( ~ node47(X,Y,Z)
    | ~ m_state_v_angle_status(X,Z,U)
    | m_state_v_angle_status(X,Y,U) ),
    inference(cnf_transformation,[],[m_Sensor_87]) ).

cnf('1408',plain,
    ( ~ node47(c_s,s8,X)
    | ~ m_state_v_angle_status(c_s,X,c_arm2stoppedatpress) ),
    inference(resolution,[],['1406','1407']) ).

cnf('1409',plain,
    ~ m_state_v_angle_status(c_s,s9,c_arm2stoppedatpress),
    inference(resolution,[],['1404','1408']) ).

cnf('1410',plain,
    ~ node38(c_s,s9),
    inference(resolution,[],['1409','382']) ).

cnf('1411',plain,
    ~ m_state_v_angle(c_s,s9,c_arm1totable),
    inference(resolution,[],['1382','469']) ).

cnf('1412',plain,
    ( m_state_v_angle(X,Y,c_arm1totable)
    | ~ node37(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_58]) ).

cnf('1413',plain,
    ~ node37(c_s,s9),
    inference(resolution,[],['1411','1412']) ).

cnf('1414',plain,
    ~ node42(c_s,s9,s8),
    inference(resolution,[then_simplify],['1383','201','1386','1389','1410','1413']) ).

cnf('1415',plain,
    ( node42(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(factorization,[],['211']) ).

cnf('1416',plain,
    ~ trans(s9,s8),
    inference(resolution,[then_simplify],['1414','1415','54']) ).

cnf('1417',plain,
    ( ~ $pr(loop)
    | trans(s9,s9)
    | trans(s9,s8)
    | trans(s9,s7)
    | trans(s9,s6)
    | trans(s9,s5)
    | trans(s9,s4)
    | trans(s9,s3)
    | trans(s9,s2)
    | trans(s9,s1)
    | trans(s9,s0) ),
    inference(cnf_transformation,[],[bound12]) ).

cnf('1418',plain,
    ( ~ node41(c_s,X,s7)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['1304','215']) ).

cnf('1419',plain,
    ~ node41(c_s,s9,s7),
    inference(resolution,[],['1382','1418']) ).

cnf('1420',plain,
    ( ~ node42(c_s,s9,s7)
    | node38(c_s,s9) ),
    inference(resolution,[then_simplify],['1419','201','1386','1389','1413']) ).

cnf('1421',plain,
    ~ node42(c_s,s9,s7),
    inference(simplify,[],['1420','1410']) ).

cnf('1422',plain,
    ~ trans(s9,s7),
    inference(resolution,[then_simplify],['1421','1415','54']) ).

cnf('1423',plain,
    ( ~ node41(c_s,X,s6)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['1264','215']) ).

cnf('1424',plain,
    ~ node41(c_s,s9,s6),
    inference(resolution,[],['1382','1423']) ).

cnf('1425',plain,
    ( ~ node42(c_s,s9,s6)
    | node38(c_s,s9) ),
    inference(resolution,[then_simplify],['1424','201','1386','1389','1413']) ).

cnf('1426',plain,
    ~ node42(c_s,s9,s6),
    inference(simplify,[],['1425','1410']) ).

cnf('1427',plain,
    ~ trans(s9,s6),
    inference(resolution,[then_simplify],['1426','1415','54']) ).

cnf('1428',plain,
    ( ~ node41(c_s,X,s5)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['1262','215']) ).

cnf('1429',plain,
    ~ node41(c_s,s9,s5),
    inference(resolution,[],['1382','1428']) ).

cnf('1430',plain,
    ( ~ node42(c_s,s9,s5)
    | node38(c_s,s9) ),
    inference(resolution,[then_simplify],['1429','201','1386','1389','1413']) ).

cnf('1431',plain,
    ~ node42(c_s,s9,s5),
    inference(simplify,[],['1430','1410']) ).

cnf('1432',plain,
    ~ trans(s9,s5),
    inference(resolution,[then_simplify],['1431','1415','54']) ).

cnf('1433',plain,
    ( ~ node41(c_s,X,s4)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['970','215']) ).

cnf('1434',plain,
    ~ node41(c_s,s9,s4),
    inference(resolution,[],['1382','1433']) ).

cnf('1435',plain,
    ( ~ node42(c_s,s9,s4)
    | node38(c_s,s9) ),
    inference(resolution,[then_simplify],['1434','201','1386','1389','1413']) ).

cnf('1436',plain,
    ~ node42(c_s,s9,s4),
    inference(simplify,[],['1435','1410']) ).

cnf('1437',plain,
    ~ trans(s9,s4),
    inference(resolution,[then_simplify],['1436','1415','54']) ).

cnf('1438',plain,
    ( ~ node41(c_s,X,s3)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['819','215']) ).

cnf('1439',plain,
    ~ node41(c_s,s9,s3),
    inference(resolution,[],['1382','1438']) ).

cnf('1440',plain,
    ( ~ node42(c_s,s9,s3)
    | node38(c_s,s9) ),
    inference(resolution,[then_simplify],['1439','201','1386','1389','1413']) ).

cnf('1441',plain,
    ~ node42(c_s,s9,s3),
    inference(simplify,[],['1440','1410']) ).

cnf('1442',plain,
    ~ trans(s9,s3),
    inference(resolution,[then_simplify],['1441','1415','54']) ).

cnf('1443',plain,
    ( ~ node41(c_s,X,s2)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['659','215']) ).

cnf('1444',plain,
    ~ node41(c_s,s9,s2),
    inference(resolution,[],['1382','1443']) ).

cnf('1445',plain,
    ( ~ node42(c_s,s9,s2)
    | node38(c_s,s9) ),
    inference(resolution,[then_simplify],['1444','201','1386','1389','1413']) ).

cnf('1446',plain,
    ~ node42(c_s,s9,s2),
    inference(simplify,[],['1445','1410']) ).

cnf('1447',plain,
    ~ trans(s9,s2),
    inference(resolution,[then_simplify],['1446','1415','54']) ).

cnf('1448',plain,
    ( ~ node41(c_s,X,s1)
    | ~ m_state_v_angle(c_s,X,c_arm2topress) ),
    inference(resolution,[],['470','215']) ).

cnf('1449',plain,
    ~ node41(c_s,s9,s1),
    inference(resolution,[],['1382','1448']) ).

cnf('1450',plain,
    ( ~ node42(c_s,s9,s1)
    | node38(c_s,s9) ),
    inference(resolution,[then_simplify],['1449','201','1386','1389','1413']) ).

cnf('1451',plain,
    ~ node42(c_s,s9,s1),
    inference(simplify,[],['1450','1410']) ).

cnf('1452',plain,
    ~ trans(s9,s1),
    inference(resolution,[then_simplify],['1451','1415','54']) ).

cnf('1453',plain,
    node26(c_s,s7,s8),
    inference(resolution,[],['87','1011']) ).

cnf('1454',plain,
    ( m_state_v_TRM(c_s,s7,c_counterclockwise)
    | node25(c_s,s7,s8)
    | m_state_v_TRM(c_s,s7,c_clockwise) ),
    inference(resolution,[],['1453','616']) ).

cnf('1455',plain,
    node25(c_s,s7,s8),
    inference(resolution,[then_simplify],['1031','1454','1049']) ).

cnf('1456',plain,
    ~ m_state_v_minRot(c_s,s7),
    inference(resolution,[then_simplify],['1005','620','1006']) ).

cnf('1457',plain,
    ~ m_state_v_minRot(c_s,s8),
    inference(resolution,[then_simplify],['1455','620','1456']) ).

cnf('1458',plain,
    ~ node177(c_s,s8),
    inference(resolution,[],['1457','593']) ).

cnf('1459',plain,
    ~ node178(c_s,s6),
    inference(resolution,[],['878','148']) ).

cnf('1460',plain,
    ~ node177(c_s,s6),
    inference(resolution,[],['834','141']) ).

cnf('1461',plain,
    ~ node176(c_s,s6),
    inference(resolution,[],['834','143']) ).

cnf('1462',plain,
    ( ~ node180(c_s,s6,X)
    | node179(c_s,s6,X) ),
    inference(resolution,[then_simplify],['1459','121','1460','1461']) ).

cnf('1463',plain,
    node180(c_s,s6,s7),
    inference(resolution,[],['119','856']) ).

cnf('1464',plain,
    node179(c_s,s6,s7),
    inference(resolution,[],['1462','1463']) ).

cnf('1465',plain,
    ~ m_state_v_deliv(c_s,s6),
    inference(resolution,[then_simplify],['876','146','877']) ).

cnf('1466',plain,
    ~ m_state_v_deliv(c_s,s7),
    inference(resolution,[then_simplify],['1464','146','1465']) ).

cnf('1467',plain,
    ~ node178(c_s,s7),
    inference(resolution,[],['1466','148']) ).

cnf('1468',plain,
    ~ node177(c_s,s7),
    inference(resolution,[],['989','141']) ).

cnf('1469',plain,
    ~ node176(c_s,s7),
    inference(resolution,[],['989','143']) ).

cnf('1470',plain,
    ( ~ node180(c_s,s7,X)
    | node179(c_s,s7,X) ),
    inference(resolution,[then_simplify],['1467','121','1468','1469']) ).

cnf('1471',plain,
    node180(c_s,s7,s8),
    inference(resolution,[],['119','1011']) ).

cnf('1472',plain,
    node179(c_s,s7,s8),
    inference(resolution,[],['1470','1471']) ).

cnf('1473',plain,
    ~ m_state_v_deliv(c_s,s7),
    inference(resolution,[then_simplify],['1464','146','1465']) ).

cnf('1474',plain,
    ~ m_state_v_deliv(c_s,s8),
    inference(resolution,[then_simplify],['1472','146','1473']) ).

cnf('1475',plain,
    ~ node178(c_s,s8),
    inference(resolution,[],['1474','148']) ).

cnf('1476',plain,
    ~ node176(c_s,s8),
    inference(resolution,[],['1457','595']) ).

cnf('1477',plain,
    ( ~ node180(c_s,s8,X)
    | node179(c_s,s8,X) ),
    inference(resolution,[then_simplify],['1458','121','1475','1476']) ).

cnf('1478',plain,
    node180(c_s,s8,s9),
    inference(resolution,[],['119','1287']) ).

cnf('1479',plain,
    node179(c_s,s8,s9),
    inference(resolution,[],['1477','1478']) ).

cnf('1480',plain,
    ~ m_state_v_deliv(c_s,s8),
    inference(resolution,[then_simplify],['1472','146','1473']) ).

cnf('1481',plain,
    ~ m_state_v_deliv(c_s,s9),
    inference(resolution,[then_simplify],['1479','146','1480']) ).

cnf('1482',plain,
    ~ node2(c_s,s9),
    inference(resolution,[],['1481','29']) ).

cnf('1483',plain,
    ( ~ node131(X,Y,Z)
    | ~ m_state_v_a1ext(X,Y,c_retracted)
    | ~ m_state_v_A1M(X,Y,c_retract)
    | ~ m_state_v_angle(X,Y,c_arm1totable)
    | m_state_v_A1M(X,Z,c_idle)
    | node127(X,Y)
    | node126(X,Y)
    | node125(X,Y)
    | node124(X,Y)
    | node123(X,Y)
    | node122(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_51]) ).

cnf('1484',plain,
    m_state_v_a1ext(c_s,s7,c_retracted),
    inference(resolution,[then_simplify],['1276','1279','1280','1281']) ).

cnf('1485',plain,
    ~ m_state_v_a1ext(c_s,s7,c_a1ip),
    inference(resolution,[],['1484','168']) ).

cnf('1486',plain,
    ~ node127(c_s,s7),
    inference(resolution,[],['1485','171']) ).

cnf('1487',plain,
    ~ m_state_v_a1ext(c_s,s7,c_ot),
    inference(resolution,[],['1484','238']) ).

cnf('1488',plain,
    ~ node126(c_s,s7),
    inference(resolution,[],['1487','240']) ).

cnf('1489',plain,
    ~ node125(c_s,s7),
    inference(resolution,[],['1485','242']) ).

cnf('1490',plain,
    ~ node124(c_s,s7),
    inference(resolution,[],['1487','244']) ).

cnf('1491',plain,
    m_state_v_pl(c_s,s1),
    inference(resolution,[],['776','778']) ).

cnf('1492',plain,
    ( ~ node114(X,Y)
    | ~ m_state_v_pl(X,Y) ),
    inference(cnf_transformation,[],[m_Press_3]) ).

cnf('1493',plain,
    ~ node114(c_s,s1),
    inference(resolution,[],['1491','1492']) ).

cnf('1494',plain,
    ( ~ node121(X,Y,Z)
    | node120(X,Y,Z)
    | node119(X,Y)
    | node118(X,Y)
    | node117(X,Y)
    | node116(X,Y)
    | node115(X,Y)
    | node114(X,Y) ),
    inference(cnf_transformation,[],[m_Press_26]) ).

cnf('1495',plain,
    ( node121(X,Y,Z)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ m_Press_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Press_27]) ).

cnf('1496',plain,
    m_Press_v_s(c_PR,c_s),
    inference(cnf_transformation,[],[m_main_6]) ).

cnf('1497',plain,
    m_Press_v_s(c_PR,c_s),
    inference(cnf_transformation,[],[m_main_6]) ).

cnf('1498',plain,
    ( node121(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['1495','1496','1497']) ).

cnf('1499',plain,
    node121(c_s,s0,s1),
    inference(resolution,[],['1498','7']) ).

cnf('1500',plain,
    ( ~ m_state_v_PM(X,Y,c_down)
    | ~ m_state_v_PM(X,Y,c_idle) ),
    inference(cnf_transformation,[],[m_state_30]) ).

cnf('1501',plain,
    ~ m_state_v_PM(X,s0,c_down),
    inference(resolution,[],['1500','247']) ).

cnf('1502',plain,
    ( m_state_v_PM(X,Y,c_down)
    | ~ node119(X,Y) ),
    inference(cnf_transformation,[],[m_Press_16]) ).

cnf('1503',plain,
    ~ node119(X,s0),
    inference(resolution,[],['1501','1502']) ).

cnf('1504',plain,
    ( ~ node118(X,Y)
    | m_state_v_topPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Press_13]) ).

cnf('1505',plain,
    ~ m_state_v_topPosP(X,s0),
    inference(cnf_transformation,[],[m_state_102]) ).

cnf('1506',plain,
    ~ node118(X3,s0),
    inference(resolution,[],['1504','1505']) ).

cnf('1507',plain,
    ( ~ node117(X,Y)
    | m_state_v_topPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Press_12]) ).

cnf('1508',plain,
    ~ node117(X3,s0),
    inference(resolution,[],['1507','1505']) ).

cnf('1509',plain,
    ( ~ node116(X,Y)
    | m_state_v_midPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Press_7]) ).

cnf('1510',plain,
    ~ node116(X3,s0),
    inference(resolution,[],['1509','185']) ).

cnf('1511',plain,
    ( ~ node115(X,Y)
    | ~ m_state_v_pl(X,Y) ),
    inference(cnf_transformation,[],[m_Press_4]) ).

cnf('1512',plain,
    ~ node115(X3,s0),
    inference(resolution,[],['1511','777']) ).

cnf('1513',plain,
    ~ node114(X3,s0),
    inference(resolution,[],['1492','777']) ).

cnf('1514',plain,
    ( ~ node121(X,s0,Y)
    | node120(X,s0,Y) ),
    inference(resolution,[then_simplify],['1494','1503','1506','1508','1510','1512','1513']) ).

cnf('1515',plain,
    node120(c_s,s0,s1),
    inference(resolution,[],['1499','1514']) ).

cnf('1516',plain,
    ( ~ node120(X,Y,Z)
    | ~ m_state_v_PM(X,Z,U)
    | m_state_v_PM(X,Y,U) ),
    inference(cnf_transformation,[],[m_Press_19]) ).

cnf('1517',plain,
    ( ~ node120(X,s0,Y)
    | ~ m_state_v_PM(X,Y,c_down) ),
    inference(resolution,[],['1516','1501']) ).

cnf('1518',plain,
    ~ m_state_v_PM(c_s,s1,c_down),
    inference(resolution,[],['1515','1517']) ).

cnf('1519',plain,
    ~ node119(c_s,s1),
    inference(resolution,[],['1518','1502']) ).

cnf('1520',plain,
    ( node52(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_104]) ).

cnf('1521',plain,
    ( node52(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['1520','53','54']) ).

cnf('1522',plain,
    node52(c_s,s0,s1),
    inference(resolution,[],['1521','7']) ).

cnf('1523',plain,
    ( ~ node52(X,Y,Z)
    | node51(X,Y,Z)
    | node50(X,Y)
    | node49(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_103]) ).

cnf('1524',plain,
    ( ~ node50(X,Y)
    | m_state_v_midPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_96]) ).

cnf('1525',plain,
    ~ node50(X3,s0),
    inference(resolution,[],['1524','185']) ).

cnf('1526',plain,
    ( ~ node49(X,Y)
    | m_state_v_topPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_94]) ).

cnf('1527',plain,
    ~ node49(X3,s0),
    inference(resolution,[],['1526','1505']) ).

cnf('1528',plain,
    node51(c_s,s0,s1),
    inference(resolution,[then_simplify],['1522','1523','1525','1527']) ).

cnf('1529',plain,
    ( ~ node51(X,Y,Z)
    | ~ m_state_v_topPosP(X,Z)
    | m_state_v_topPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_100]) ).

cnf('1530',plain,
    ( ~ node51(X,s0,Y)
    | ~ m_state_v_topPosP(X,Y) ),
    inference(resolution,[],['1529','1505']) ).

cnf('1531',plain,
    ~ m_state_v_topPosP(c_s,s1),
    inference(resolution,[],['1528','1530']) ).

cnf('1532',plain,
    ~ node118(c_s,s1),
    inference(resolution,[],['1531','1504']) ).

cnf('1533',plain,
    ~ node117(c_s,s1),
    inference(resolution,[],['1531','1507']) ).

cnf('1534',plain,
    ~ node116(c_s,s1),
    inference(resolution,[],['261','1509']) ).

cnf('1535',plain,
    ( ~ node115(X,Y)
    | m_state_v_midPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Press_6]) ).

cnf('1536',plain,
    ~ node115(c_s,s1),
    inference(resolution,[],['261','1535']) ).

cnf('1537',plain,
    ( ~ node121(c_s,s1,X)
    | node120(c_s,s1,X) ),
    inference(resolution,[then_simplify],['1493','1494','1519','1532','1533','1534','1536']) ).

cnf('1538',plain,
    node121(c_s,s1,s2),
    inference(resolution,[],['1498','20']) ).

cnf('1539',plain,
    node120(c_s,s1,s2),
    inference(resolution,[],['1537','1538']) ).

cnf('1540',plain,
    ( ~ node120(X,s0,Y)
    | ~ m_state_v_PM(X,Y,c_up) ),
    inference(resolution,[],['1516','248']) ).

cnf('1541',plain,
    ~ m_state_v_PM(c_s,s1,c_up),
    inference(resolution,[],['1515','1540']) ).

cnf('1542',plain,
    ( ~ node120(c_s,s1,X)
    | ~ m_state_v_PM(c_s,X,c_up) ),
    inference(resolution,[],['1541','1516']) ).

cnf('1543',plain,
    ~ m_state_v_PM(c_s,s2,c_up),
    inference(resolution,[],['1539','1542']) ).

cnf('1544',plain,
    ~ node53(c_s,s2),
    inference(resolution,[],['1543','249']) ).

cnf('1545',plain,
    ~ node53(c_s,s1),
    inference(resolution,[],['1541','249']) ).

cnf('1546',plain,
    ( ~ m_state_v_press_status(X,Y,c_pressatbot)
    | ~ m_state_v_press_status(X,Y,c_pressatmid) ),
    inference(cnf_transformation,[],[m_state_76]) ).

cnf('1547',plain,
    ( node68(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_147]) ).

cnf('1548',plain,
    ( node68(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['1547','53','54']) ).

cnf('1549',plain,
    node68(c_s,s0,s1),
    inference(resolution,[],['1548','7']) ).

cnf('1550',plain,
    ( ~ node68(X,Y,Z)
    | ~ m_state_v_PM(X,Y,c_idle)
    | m_state_v_press_status(X,Z,c_pressatbot)
    | ~ m_state_v_botPosP(X,Y)
    | node65(X,Y)
    | node64(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_145]) ).

cnf('1551',plain,
    m_state_v_PM(X0,s0,c_idle),
    inference(cnf_transformation,[],[m_state_100]) ).

cnf('1552',plain,
    m_state_v_botPosP(X0,s0),
    inference(cnf_transformation,[],[m_state_101]) ).

cnf('1553',plain,
    ( ~ node65(X,Y)
    | m_state_v_midPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_137]) ).

cnf('1554',plain,
    ~ node65(X3,s0),
    inference(resolution,[],['1553','185']) ).

cnf('1555',plain,
    ( ~ node64(X,Y)
    | m_state_v_topPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_135]) ).

cnf('1556',plain,
    ~ node64(X3,s0),
    inference(resolution,[],['1555','1505']) ).

cnf('1557',plain,
    m_state_v_press_status(c_s,s1,c_pressatbot),
    inference(resolution,[then_simplify],['1549','1550','1551','1552','1554','1556']) ).

cnf('1558',plain,
    ~ m_state_v_press_status(c_s,s1,c_pressatmid),
    inference(resolution,[],['1546','1557']) ).

cnf('1559',plain,
    ( m_state_v_press_status(X,Y,c_pressatmid)
    | ~ node54(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_109]) ).

cnf('1560',plain,
    ~ node54(c_s,s1),
    inference(resolution,[],['1558','1559']) ).

cnf('1561',plain,
    ( ~ node56(c_s,s1,X)
    | node55(c_s,s1,X) ),
    inference(resolution,[then_simplify],['1545','251','1560']) ).

cnf('1562',plain,
    node56(c_s,s1,s2),
    inference(resolution,[],['256','20']) ).

cnf('1563',plain,
    node55(c_s,s1,s2),
    inference(resolution,[],['1561','1562']) ).

cnf('1564',plain,
    ~ m_state_v_midPosP(c_s,s1),
    inference(resolution,[],['258','260']) ).

cnf('1565',plain,
    ~ m_state_v_midPosP(c_s,s2),
    inference(resolution,[then_simplify],['1563','259','1564']) ).

cnf('1566',plain,
    ~ node54(c_s,s2),
    inference(resolution,[],['1565','252']) ).

cnf('1567',plain,
    ( ~ node56(c_s,s2,X)
    | node55(c_s,s2,X) ),
    inference(resolution,[then_simplify],['1544','251','1566']) ).

cnf('1568',plain,
    node56(c_s,s2,s3),
    inference(resolution,[],['256','98']) ).

cnf('1569',plain,
    node55(c_s,s2,s3),
    inference(resolution,[],['1567','1568']) ).

cnf('1570',plain,
    ~ m_state_v_midPosP(c_s,s2),
    inference(resolution,[then_simplify],['1563','259','1564']) ).

cnf('1571',plain,
    ~ m_state_v_midPosP(c_s,s3),
    inference(resolution,[then_simplify],['1569','259','1570']) ).

cnf('1572',plain,
    ~ node116(c_s,s3),
    inference(resolution,[],['1571','1509']) ).

cnf('1573',plain,
    ( ~ node120(c_s,s1,X)
    | ~ m_state_v_PM(c_s,X,c_down) ),
    inference(resolution,[],['1518','1516']) ).

cnf('1574',plain,
    ~ m_state_v_PM(c_s,s2,c_down),
    inference(resolution,[],['1539','1573']) ).

cnf('1575',plain,
    ~ node119(c_s,s2),
    inference(resolution,[],['1574','1502']) ).

cnf('1576',plain,
    ( node63(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_134]) ).

cnf('1577',plain,
    ( node63(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['1576','53','54']) ).

cnf('1578',plain,
    node63(c_s,s1,s2),
    inference(resolution,[],['1577','20']) ).

cnf('1579',plain,
    ( ~ node63(X,Y,Z)
    | node62(X,Y,Z)
    | ~ m_state_v_pl(X,Y)
    | node61(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_133]) ).

cnf('1580',plain,
    ( ~ node61(X,Y)
    | m_state_v_topPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_126]) ).

cnf('1581',plain,
    ~ node61(c_s,s1),
    inference(resolution,[],['1531','1580']) ).

cnf('1582',plain,
    ( ~ m_state_v_pl(c_s,s1)
    | node62(c_s,s1,s2) ),
    inference(resolution,[then_simplify],['1578','1579','1581']) ).

cnf('1583',plain,
    node62(c_s,s1,s2),
    inference(resolution,[],['1491','1582']) ).

cnf('1584',plain,
    ( ~ node62(X,Y,Z)
    | ~ m_state_v_fc(X,Z)
    | m_state_v_fc(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_130]) ).

cnf('1585',plain,
    node63(c_s,s0,s1),
    inference(resolution,[],['1577','7']) ).

cnf('1586',plain,
    m_state_v_pl(X0,s0),
    inference(cnf_transformation,[],[m_state_99]) ).

cnf('1587',plain,
    ~ node61(X3,s0),
    inference(resolution,[],['1580','1505']) ).

cnf('1588',plain,
    node62(c_s,s0,s1),
    inference(resolution,[then_simplify],['1585','1579','1586','1587']) ).

cnf('1589',plain,
    ~ m_state_v_fc(X,s0),
    inference(cnf_transformation,[],[m_state_103]) ).

cnf('1590',plain,
    ( ~ node62(X,s0,Y)
    | ~ m_state_v_fc(X,Y) ),
    inference(resolution,[],['1584','1589']) ).

cnf('1591',plain,
    ~ m_state_v_fc(c_s,s1),
    inference(resolution,[],['1588','1590']) ).

cnf('1592',plain,
    ~ m_state_v_fc(c_s,s2),
    inference(resolution,[then_simplify],['1583','1584','1591']) ).

cnf('1593',plain,
    ( ~ node118(X,Y)
    | m_state_v_fc(X,Y) ),
    inference(cnf_transformation,[],[m_Press_15]) ).

cnf('1594',plain,
    ~ node118(c_s,s2),
    inference(resolution,[],['1592','1593']) ).

cnf('1595',plain,
    ( m_state_v_press_status(X,Y,c_pressatmid)
    | ~ node50(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_98]) ).

cnf('1596',plain,
    ~ node50(c_s,s1),
    inference(resolution,[],['1558','1595']) ).

cnf('1597',plain,
    ~ node49(c_s,s1),
    inference(resolution,[],['1531','1526']) ).

cnf('1598',plain,
    ( ~ node52(c_s,s1,X)
    | node51(c_s,s1,X) ),
    inference(resolution,[then_simplify],['1596','1523','1597']) ).

cnf('1599',plain,
    node52(c_s,s1,s2),
    inference(resolution,[],['1521','20']) ).

cnf('1600',plain,
    node51(c_s,s1,s2),
    inference(resolution,[],['1598','1599']) ).

cnf('1601',plain,
    ~ m_state_v_topPosP(c_s,s1),
    inference(resolution,[],['1528','1530']) ).

cnf('1602',plain,
    ~ m_state_v_topPosP(c_s,s2),
    inference(resolution,[then_simplify],['1600','1529','1601']) ).

cnf('1603',plain,
    ~ node117(c_s,s2),
    inference(resolution,[],['1602','1507']) ).

cnf('1604',plain,
    ~ node116(c_s,s2),
    inference(resolution,[],['1565','1509']) ).

cnf('1605',plain,
    m_state_v_pl(c_s,s2),
    inference(resolution,[then_simplify],['772','766','779']) ).

cnf('1606',plain,
    ~ node115(c_s,s2),
    inference(resolution,[],['1605','1511']) ).

cnf('1607',plain,
    ~ node114(c_s,s2),
    inference(resolution,[],['1605','1492']) ).

cnf('1608',plain,
    ( ~ node121(c_s,s2,X)
    | node120(c_s,s2,X) ),
    inference(resolution,[then_simplify],['1575','1494','1594','1603','1604','1606','1607']) ).

cnf('1609',plain,
    node121(c_s,s2,s3),
    inference(resolution,[],['1498','98']) ).

cnf('1610',plain,
    node120(c_s,s2,s3),
    inference(resolution,[],['1608','1609']) ).

cnf('1611',plain,
    ( ~ node120(c_s,s2,X)
    | ~ m_state_v_PM(c_s,X,c_down) ),
    inference(resolution,[],['1574','1516']) ).

cnf('1612',plain,
    ~ m_state_v_PM(c_s,s3,c_down),
    inference(resolution,[],['1610','1611']) ).

cnf('1613',plain,
    ~ node119(c_s,s3),
    inference(resolution,[],['1612','1502']) ).

cnf('1614',plain,
    ~ node61(c_s,s2),
    inference(resolution,[],['1602','1580']) ).

cnf('1615',plain,
    ( ~ node63(c_s,s2,X)
    | node62(c_s,s2,X) ),
    inference(resolution,[then_simplify],['1614','1579','780']) ).

cnf('1616',plain,
    node63(c_s,s2,s3),
    inference(resolution,[],['1577','98']) ).

cnf('1617',plain,
    node62(c_s,s2,s3),
    inference(resolution,[],['1615','1616']) ).

cnf('1618',plain,
    ~ m_state_v_fc(c_s,s2),
    inference(resolution,[then_simplify],['1583','1584','1591']) ).

cnf('1619',plain,
    ~ m_state_v_fc(c_s,s3),
    inference(resolution,[then_simplify],['1617','1584','1618']) ).

cnf('1620',plain,
    ~ node118(c_s,s3),
    inference(resolution,[],['1619','1593']) ).

cnf('1621',plain,
    ~ node50(c_s,s2),
    inference(resolution,[],['1565','1524']) ).

cnf('1622',plain,
    ~ node49(c_s,s2),
    inference(resolution,[],['1602','1526']) ).

cnf('1623',plain,
    ( ~ node52(c_s,s2,X)
    | node51(c_s,s2,X) ),
    inference(resolution,[then_simplify],['1621','1523','1622']) ).

cnf('1624',plain,
    node52(c_s,s2,s3),
    inference(resolution,[],['1521','98']) ).

cnf('1625',plain,
    node51(c_s,s2,s3),
    inference(resolution,[],['1623','1624']) ).

cnf('1626',plain,
    ~ m_state_v_topPosP(c_s,s2),
    inference(resolution,[then_simplify],['1600','1529','1601']) ).

cnf('1627',plain,
    ~ m_state_v_topPosP(c_s,s3),
    inference(resolution,[then_simplify],['1625','1529','1626']) ).

cnf('1628',plain,
    ~ node117(c_s,s3),
    inference(resolution,[],['1627','1507']) ).

cnf('1629',plain,
    ~ node115(c_s,s3),
    inference(resolution,[],['781','1511']) ).

cnf('1630',plain,
    ~ node114(c_s,s3),
    inference(resolution,[],['781','1492']) ).

cnf('1631',plain,
    ( ~ node121(c_s,s3,X)
    | node120(c_s,s3,X) ),
    inference(resolution,[then_simplify],['1572','1494','1613','1620','1628','1629','1630']) ).

cnf('1632',plain,
    node121(c_s,s3,s4),
    inference(resolution,[],['1498','316']) ).

cnf('1633',plain,
    node120(c_s,s3,s4),
    inference(resolution,[],['1631','1632']) ).

cnf('1634',plain,
    ( ~ node120(c_s,s3,X)
    | ~ m_state_v_PM(c_s,X,c_down) ),
    inference(resolution,[],['1612','1516']) ).

cnf('1635',plain,
    ~ m_state_v_PM(c_s,s4,c_down),
    inference(resolution,[],['1633','1634']) ).

cnf('1636',plain,
    ~ node119(c_s,s4),
    inference(resolution,[],['1635','1502']) ).

cnf('1637',plain,
    ~ node61(c_s,s3),
    inference(resolution,[],['1627','1580']) ).

cnf('1638',plain,
    ( ~ node63(c_s,s3,X)
    | node62(c_s,s3,X) ),
    inference(resolution,[then_simplify],['781','1579','1637']) ).

cnf('1639',plain,
    node63(c_s,s3,s4),
    inference(resolution,[],['1577','316']) ).

cnf('1640',plain,
    node62(c_s,s3,s4),
    inference(resolution,[],['1638','1639']) ).

cnf('1641',plain,
    ~ m_state_v_fc(c_s,s3),
    inference(resolution,[then_simplify],['1617','1584','1618']) ).

cnf('1642',plain,
    ~ m_state_v_fc(c_s,s4),
    inference(resolution,[then_simplify],['1640','1584','1641']) ).

cnf('1643',plain,
    ~ node118(c_s,s4),
    inference(resolution,[],['1642','1593']) ).

cnf('1644',plain,
    ( ~ node120(X,Y,Z)
    | ~ m_state_v_PM(X,Y,U)
    | m_state_v_PM(X,Z,U) ),
    inference(cnf_transformation,[],[m_Press_18]) ).

cnf('1645',plain,
    ( ~ node120(X,s0,Y)
    | m_state_v_PM(X,Y,c_idle) ),
    inference(resolution,[],['1644','247']) ).

cnf('1646',plain,
    m_state_v_PM(c_s,s1,c_idle),
    inference(resolution,[],['1515','1645']) ).

cnf('1647',plain,
    ( ~ node120(c_s,s1,X)
    | m_state_v_PM(c_s,X,c_idle) ),
    inference(resolution,[],['1646','1644']) ).

cnf('1648',plain,
    m_state_v_PM(c_s,s2,c_idle),
    inference(resolution,[],['1539','1647']) ).

cnf('1649',plain,
    ( m_state_v_PM(X,Y,c_up)
    | ~ node57(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_117]) ).

cnf('1650',plain,
    ~ node57(c_s,s1),
    inference(resolution,[],['1541','1649']) ).

cnf('1651',plain,
    ( node60(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_125]) ).

cnf('1652',plain,
    ( node60(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['1651','53','54']) ).

cnf('1653',plain,
    node60(c_s,s1,s2),
    inference(resolution,[],['1652','20']) ).

cnf('1654',plain,
    ( ~ node60(X,Y,Z)
    | node59(X,Y,Z)
    | node58(X,Y)
    | node57(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_124]) ).

cnf('1655',plain,
    ( ~ node58(X,Y)
    | m_state_v_topPosP(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_118]) ).

cnf('1656',plain,
    ~ node58(c_s,s1),
    inference(resolution,[],['1531','1655']) ).

cnf('1657',plain,
    ( node59(c_s,s1,s2)
    | node57(c_s,s1) ),
    inference(resolution,[then_simplify],['1653','1654','1656']) ).

cnf('1658',plain,
    node59(c_s,s1,s2),
    inference(resolution,[],['1650','1657']) ).

cnf('1659',plain,
    ( ~ node59(X,Y,Z)
    | ~ m_state_v_botPosP(X,Y)
    | m_state_v_botPosP(X,Z) ),
    inference(cnf_transformation,[],[m_Sensor_120]) ).

cnf('1660',plain,
    ~ node57(X,s0),
    inference(resolution,[],['248','1649']) ).

cnf('1661',plain,
    ~ node58(X3,s0),
    inference(resolution,[],['1655','1505']) ).

cnf('1662',plain,
    ( ~ node60(X,s0,Y)
    | node59(X,s0,Y) ),
    inference(resolution,[then_simplify],['1660','1654','1661']) ).

cnf('1663',plain,
    node60(c_s,s0,s1),
    inference(resolution,[],['1652','7']) ).

cnf('1664',plain,
    node59(c_s,s0,s1),
    inference(resolution,[],['1662','1663']) ).

cnf('1665',plain,
    m_state_v_botPosP(X,s0),
    inference(cnf_transformation,[],[m_state_101]) ).

cnf('1666',plain,
    ( ~ node59(X,s0,Y)
    | m_state_v_botPosP(X,Y) ),
    inference(resolution,[],['1659','1665']) ).

cnf('1667',plain,
    m_state_v_botPosP(c_s,s1),
    inference(resolution,[],['1664','1666']) ).

cnf('1668',plain,
    m_state_v_botPosP(c_s,s2),
    inference(resolution,[then_simplify],['1658','1659','1667']) ).

cnf('1669',plain,
    ~ node65(c_s,s2),
    inference(resolution,[],['1565','1553']) ).

cnf('1670',plain,
    ~ node64(c_s,s2),
    inference(resolution,[],['1602','1555']) ).

cnf('1671',plain,
    ( ~ node68(c_s,s2,X)
    | m_state_v_press_status(c_s,X,c_pressatbot) ),
    inference(resolution,[then_simplify],['1648','1550','1668','1669','1670']) ).

cnf('1672',plain,
    node68(c_s,s2,s3),
    inference(resolution,[],['1548','98']) ).

cnf('1673',plain,
    m_state_v_press_status(c_s,s3,c_pressatbot),
    inference(resolution,[],['1671','1672']) ).

cnf('1674',plain,
    ~ m_state_v_press_status(c_s,s3,c_pressatmid),
    inference(resolution,[],['1673','1546']) ).

cnf('1675',plain,
    ~ node50(c_s,s3),
    inference(resolution,[],['1674','1595']) ).

cnf('1676',plain,
    ~ node49(c_s,s3),
    inference(resolution,[],['1627','1526']) ).

cnf('1677',plain,
    ( ~ node52(c_s,s3,X)
    | node51(c_s,s3,X) ),
    inference(resolution,[then_simplify],['1675','1523','1676']) ).

cnf('1678',plain,
    node52(c_s,s3,s4),
    inference(resolution,[],['1521','316']) ).

cnf('1679',plain,
    node51(c_s,s3,s4),
    inference(resolution,[],['1677','1678']) ).

cnf('1680',plain,
    ~ m_state_v_topPosP(c_s,s3),
    inference(resolution,[then_simplify],['1625','1529','1626']) ).

cnf('1681',plain,
    ~ m_state_v_topPosP(c_s,s4),
    inference(resolution,[then_simplify],['1679','1529','1680']) ).

cnf('1682',plain,
    ~ node117(c_s,s4),
    inference(resolution,[],['1681','1507']) ).

cnf('1683',plain,
    ( ~ node120(c_s,s2,X)
    | m_state_v_PM(c_s,X,c_idle) ),
    inference(resolution,[],['1648','1644']) ).

cnf('1684',plain,
    m_state_v_PM(c_s,s3,c_idle),
    inference(resolution,[],['1610','1683']) ).

cnf('1685',plain,
    ~ m_state_v_PM(c_s,s3,c_up),
    inference(resolution,[],['1684','246']) ).

cnf('1686',plain,
    ~ node53(c_s,s3),
    inference(resolution,[],['1685','249']) ).

cnf('1687',plain,
    ~ node54(c_s,s3),
    inference(resolution,[],['1674','1559']) ).

cnf('1688',plain,
    ( ~ node56(c_s,s3,X)
    | node55(c_s,s3,X) ),
    inference(resolution,[then_simplify],['1686','251','1687']) ).

cnf('1689',plain,
    node56(c_s,s3,s4),
    inference(resolution,[],['256','316']) ).

cnf('1690',plain,
    node55(c_s,s3,s4),
    inference(resolution,[],['1688','1689']) ).

cnf('1691',plain,
    ~ m_state_v_midPosP(c_s,s3),
    inference(resolution,[then_simplify],['1569','259','1570']) ).

cnf('1692',plain,
    ~ m_state_v_midPosP(c_s,s4),
    inference(resolution,[then_simplify],['1690','259','1691']) ).

cnf('1693',plain,
    ~ node116(c_s,s4),
    inference(resolution,[],['1692','1509']) ).

cnf('1694',plain,
    ~ node161(c_s,s3),
    inference(resolution,[],['656','768']) ).

cnf('1695',plain,
    ~ node160(c_s,s3),
    inference(resolution,[],['957','756']) ).

cnf('1696',plain,
    ( ~ node163(c_s,s3,X)
    | node162(c_s,s3,X) ),
    inference(resolution,[then_simplify],['1694','758','1695']) ).

cnf('1697',plain,
    node163(c_s,s3,s4),
    inference(resolution,[],['763','316']) ).

cnf('1698',plain,
    node162(c_s,s3,s4),
    inference(resolution,[],['1696','1697']) ).

cnf('1699',plain,
    m_state_v_pl(c_s,s3),
    inference(resolution,[then_simplify],['765','766','780']) ).

cnf('1700',plain,
    m_state_v_pl(c_s,s4),
    inference(resolution,[then_simplify],['1698','766','1699']) ).

cnf('1701',plain,
    ~ node115(c_s,s4),
    inference(resolution,[],['1700','1511']) ).

cnf('1702',plain,
    ~ node114(c_s,s4),
    inference(resolution,[],['1700','1492']) ).

cnf('1703',plain,
    ( ~ node121(c_s,s4,X)
    | node120(c_s,s4,X) ),
    inference(resolution,[then_simplify],['1636','1494','1643','1682','1693','1701','1702']) ).

cnf('1704',plain,
    node121(c_s,s4,s5),
    inference(resolution,[],['1498','626']) ).

cnf('1705',plain,
    node120(c_s,s4,s5),
    inference(resolution,[],['1703','1704']) ).

cnf('1706',plain,
    ( ~ node120(c_s,s3,X)
    | m_state_v_PM(c_s,X,c_idle) ),
    inference(resolution,[],['1684','1644']) ).

cnf('1707',plain,
    m_state_v_PM(c_s,s4,c_idle),
    inference(resolution,[],['1633','1706']) ).

cnf('1708',plain,
    ( ~ node120(c_s,s4,X)
    | m_state_v_PM(c_s,X,c_idle) ),
    inference(resolution,[],['1707','1644']) ).

cnf('1709',plain,
    m_state_v_PM(c_s,s5,c_idle),
    inference(resolution,[],['1705','1708']) ).

cnf('1710',plain,
    ( ~ node120(c_s,s5,X)
    | m_state_v_PM(c_s,X,c_idle) ),
    inference(resolution,[],['1709','1644']) ).

cnf('1711',plain,
    ( ~ node120(c_s,s4,X)
    | ~ m_state_v_PM(c_s,X,c_down) ),
    inference(resolution,[],['1635','1516']) ).

cnf('1712',plain,
    ~ m_state_v_PM(c_s,s5,c_down),
    inference(resolution,[],['1705','1711']) ).

cnf('1713',plain,
    ~ node119(c_s,s5),
    inference(resolution,[],['1712','1502']) ).

cnf('1714',plain,
    ~ node61(c_s,s4),
    inference(resolution,[],['1681','1580']) ).

cnf('1715',plain,
    m_state_v_pl(c_s,s4),
    inference(resolution,[then_simplify],['1698','766','1699']) ).

cnf('1716',plain,
    ( ~ node63(c_s,s4,X)
    | node62(c_s,s4,X) ),
    inference(resolution,[then_simplify],['1714','1579','1715']) ).

cnf('1717',plain,
    node63(c_s,s4,s5),
    inference(resolution,[],['1577','626']) ).

cnf('1718',plain,
    node62(c_s,s4,s5),
    inference(resolution,[],['1716','1717']) ).

cnf('1719',plain,
    ~ m_state_v_fc(c_s,s4),
    inference(resolution,[then_simplify],['1640','1584','1641']) ).

cnf('1720',plain,
    ~ m_state_v_fc(c_s,s5),
    inference(resolution,[then_simplify],['1718','1584','1719']) ).

cnf('1721',plain,
    ~ node118(c_s,s5),
    inference(resolution,[],['1720','1593']) ).

cnf('1722',plain,
    ~ node50(c_s,s4),
    inference(resolution,[],['1692','1524']) ).

cnf('1723',plain,
    ~ node49(c_s,s4),
    inference(resolution,[],['1681','1526']) ).

cnf('1724',plain,
    ( ~ node52(c_s,s4,X)
    | node51(c_s,s4,X) ),
    inference(resolution,[then_simplify],['1722','1523','1723']) ).

cnf('1725',plain,
    node52(c_s,s4,s5),
    inference(resolution,[],['1521','626']) ).

cnf('1726',plain,
    node51(c_s,s4,s5),
    inference(resolution,[],['1724','1725']) ).

cnf('1727',plain,
    ~ m_state_v_topPosP(c_s,s4),
    inference(resolution,[then_simplify],['1679','1529','1680']) ).

cnf('1728',plain,
    ~ m_state_v_topPosP(c_s,s5),
    inference(resolution,[then_simplify],['1726','1529','1727']) ).

cnf('1729',plain,
    ~ node117(c_s,s5),
    inference(resolution,[],['1728','1507']) ).

cnf('1730',plain,
    ( ~ node120(c_s,s3,X)
    | ~ m_state_v_PM(c_s,X,c_up) ),
    inference(resolution,[],['1685','1516']) ).

cnf('1731',plain,
    ~ m_state_v_PM(c_s,s4,c_up),
    inference(resolution,[],['1633','1730']) ).

cnf('1732',plain,
    ~ node53(c_s,s4),
    inference(resolution,[],['1731','249']) ).

cnf('1733',plain,
    ~ node54(c_s,s4),
    inference(resolution,[],['1692','252']) ).

cnf('1734',plain,
    ( ~ node56(c_s,s4,X)
    | node55(c_s,s4,X) ),
    inference(resolution,[then_simplify],['1732','251','1733']) ).

cnf('1735',plain,
    node56(c_s,s4,s5),
    inference(resolution,[],['256','626']) ).

cnf('1736',plain,
    node55(c_s,s4,s5),
    inference(resolution,[],['1734','1735']) ).

cnf('1737',plain,
    ~ m_state_v_midPosP(c_s,s4),
    inference(resolution,[then_simplify],['1690','259','1691']) ).

cnf('1738',plain,
    ~ m_state_v_midPosP(c_s,s5),
    inference(resolution,[then_simplify],['1736','259','1737']) ).

cnf('1739',plain,
    ~ node116(c_s,s5),
    inference(resolution,[],['1738','1509']) ).

cnf('1740',plain,
    ~ node160(c_s,s4),
    inference(resolution,[],['1169','756']) ).

cnf('1741',plain,
    ( m_state_v_a1ext(X,Y,c_retracted)
    | ~ node161(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_192]) ).

cnf('1742',plain,
    ~ node161(c_s,s4),
    inference(resolution,[],['668','1741']) ).

cnf('1743',plain,
    ( ~ node163(c_s,s4,X)
    | node162(c_s,s4,X) ),
    inference(resolution,[then_simplify],['1740','758','1742']) ).

cnf('1744',plain,
    node163(c_s,s4,s5),
    inference(resolution,[],['763','626']) ).

cnf('1745',plain,
    node162(c_s,s4,s5),
    inference(resolution,[],['1743','1744']) ).

cnf('1746',plain,
    m_state_v_pl(c_s,s5),
    inference(resolution,[then_simplify],['1745','766','1715']) ).

cnf('1747',plain,
    ~ node115(c_s,s5),
    inference(resolution,[],['1746','1511']) ).

cnf('1748',plain,
    ~ node114(c_s,s5),
    inference(resolution,[],['1746','1492']) ).

cnf('1749',plain,
    ( ~ node121(c_s,s5,X)
    | node120(c_s,s5,X) ),
    inference(resolution,[then_simplify],['1713','1494','1721','1729','1739','1747','1748']) ).

cnf('1750',plain,
    node121(c_s,s5,s6),
    inference(resolution,[],['1498','710']) ).

cnf('1751',plain,
    node120(c_s,s5,s6),
    inference(resolution,[],['1749','1750']) ).

cnf('1752',plain,
    m_state_v_PM(c_s,s6,c_idle),
    inference(resolution,[],['1710','1751']) ).

cnf('1753',plain,
    ~ m_state_v_PM(c_s,s6,c_up),
    inference(resolution,[],['1752','246']) ).

cnf('1754',plain,
    ~ node53(c_s,s6),
    inference(resolution,[],['1753','249']) ).

cnf('1755',plain,
    node56(c_s,s6,s7),
    inference(resolution,[],['256','856']) ).

cnf('1756',plain,
    ( node55(c_s,s6,s7)
    | node53(c_s,s6)
    | node54(c_s,s6) ),
    inference(resolution,[],['1755','251']) ).

cnf('1757',plain,
    node56(c_s,s5,s6),
    inference(resolution,[],['256','710']) ).

cnf('1758',plain,
    ( node55(c_s,s5,s6)
    | node53(c_s,s5)
    | node54(c_s,s5) ),
    inference(resolution,[],['1757','251']) ).

cnf('1759',plain,
    ( ~ node120(c_s,s4,X)
    | ~ m_state_v_PM(c_s,X,c_up) ),
    inference(resolution,[],['1731','1516']) ).

cnf('1760',plain,
    ~ m_state_v_PM(c_s,s5,c_up),
    inference(resolution,[],['1705','1759']) ).

cnf('1761',plain,
    ~ node53(c_s,s5),
    inference(resolution,[],['1760','249']) ).

cnf('1762',plain,
    ~ node54(c_s,s5),
    inference(resolution,[],['1738','252']) ).

cnf('1763',plain,
    node55(c_s,s5,s6),
    inference(simplify,[then_simplify],['1758','1761','1762']) ).

cnf('1764',plain,
    ~ m_state_v_midPosP(c_s,s5),
    inference(resolution,[then_simplify],['1736','259','1737']) ).

cnf('1765',plain,
    ~ m_state_v_midPosP(c_s,s6),
    inference(resolution,[then_simplify],['1763','259','1764']) ).

cnf('1766',plain,
    ~ node54(c_s,s6),
    inference(resolution,[],['1765','252']) ).

cnf('1767',plain,
    ( node55(c_s,s6,s7)
    | node53(c_s,s6) ),
    inference(simplify,[],['1756','1766']) ).

cnf('1768',plain,
    node55(c_s,s6,s7),
    inference(resolution,[],['1754','1767']) ).

cnf('1769',plain,
    ~ m_state_v_midPosP(c_s,s6),
    inference(resolution,[then_simplify],['1763','259','1764']) ).

cnf('1770',plain,
    ~ m_state_v_midPosP(c_s,s7),
    inference(resolution,[then_simplify],['1768','259','1769']) ).

cnf('1771',plain,
    ~ node123(c_s,s7),
    inference(resolution,[],['1770','184']) ).

cnf('1772',plain,
    ~ node142(c_s,s6),
    inference(resolution,[],['1120','454']) ).

cnf('1773',plain,
    ~ node143(c_s,s6),
    inference(resolution,[],['1126','440']) ).

cnf('1774',plain,
    ( ~ node145(c_s,s6,X)
    | node144(c_s,s6,X) ),
    inference(resolution,[then_simplify],['1772','439','1773']) ).

cnf('1775',plain,
    node145(c_s,s6,s7),
    inference(resolution,[],['437','856']) ).

cnf('1776',plain,
    node144(c_s,s6,s7),
    inference(resolution,[],['1774','1775']) ).

cnf('1777',plain,
    ~ node142(c_s,s5),
    inference(resolution,[],['890','454']) ).

cnf('1778',plain,
    ~ node143(c_s,s5),
    inference(resolution,[],['1113','440']) ).

cnf('1779',plain,
    ( ~ node145(c_s,s5,X)
    | node144(c_s,s5,X) ),
    inference(resolution,[then_simplify],['1777','439','1778']) ).

cnf('1780',plain,
    node145(c_s,s5,s6),
    inference(resolution,[],['437','710']) ).

cnf('1781',plain,
    node144(c_s,s5,s6),
    inference(resolution,[],['1779','1780']) ).

cnf('1782',plain,
    m_state_v_A1Mag(c_s,s5,c_on),
    inference(resolution,[],['1102','1103']) ).

cnf('1783',plain,
    ~ m_state_v_A1Mag(c_s,s5,c_off),
    inference(resolution,[],['1782','173']) ).

cnf('1784',plain,
    ( ~ node144(c_s,s5,X)
    | ~ m_state_v_A1Mag(c_s,X,c_off) ),
    inference(resolution,[],['1783','445']) ).

cnf('1785',plain,
    ~ m_state_v_A1Mag(c_s,s6,c_off),
    inference(resolution,[],['1781','1784']) ).

cnf('1786',plain,
    ( ~ node144(c_s,s6,X)
    | ~ m_state_v_A1Mag(c_s,X,c_off) ),
    inference(resolution,[],['1785','445']) ).

cnf('1787',plain,
    ~ m_state_v_A1Mag(c_s,s7,c_off),
    inference(resolution,[],['1776','1786']) ).

cnf('1788',plain,
    ( m_state_v_A1Mag(X,Y,c_off)
    | ~ node122(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_7]) ).

cnf('1789',plain,
    ~ node122(c_s,s7),
    inference(resolution,[],['1787','1788']) ).

cnf('1790',plain,
    ( ~ node131(c_s,s7,X)
    | m_state_v_A1M(c_s,X,c_idle) ),
    inference(resolution,[then_simplify],['1138','1483','1282','1365','1486','1488','1489','1490','1771','1789']) ).

cnf('1791',plain,
    node131(c_s,s7,s8),
    inference(resolution,[],['161','1011']) ).

cnf('1792',plain,
    m_state_v_A1M(c_s,s8,c_idle),
    inference(resolution,[],['1790','1791']) ).

cnf('1793',plain,
    ~ m_state_v_A1M(c_s,s8,c_retract),
    inference(resolution,[],['1792','23']) ).

cnf('1794',plain,
    ~ node1(c_s,s8),
    inference(resolution,[],['1793','26']) ).

cnf('1795',plain,
    ~ node2(c_s,s8),
    inference(resolution,[],['1474','29']) ).

cnf('1796',plain,
    node4(c_s,s8,s9),
    inference(resolution,[],['36','1287']) ).

cnf('1797',plain,
    ( node3(c_s,s8,s9)
    | node2(c_s,s8)
    | node1(c_s,s8) ),
    inference(resolution,[],['1796','28']) ).

cnf('1798',plain,
    ( node3(c_s,s8,s9)
    | node1(c_s,s8) ),
    inference(resolution,[],['1795','1797']) ).

cnf('1799',plain,
    node3(c_s,s8,s9),
    inference(resolution,[],['1794','1798']) ).

cnf('1800',plain,
    ( ~ node3(X,Y,Z)
    | ~ m_state_v_tl(X,Z)
    | m_state_v_tl(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_8]) ).

cnf('1801',plain,
    ~ m_state_v_tl(c_s,s9),
    inference(resolution,[then_simplify],['1799','1800','1284']) ).

cnf('1802',plain,
    ( ~ node3(X,Y,s0)
    | m_state_v_tl(X,Y) ),
    inference(resolution,[],['1800','40']) ).

cnf('1803',plain,
    ~ node3(c_s,s9,s0),
    inference(resolution,[],['1801','1802']) ).

cnf('1804',plain,
    ( m_state_v_angle(X,Y,c_arm1totable)
    | ~ node1(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_1]) ).

cnf('1805',plain,
    ~ node1(c_s,s9),
    inference(resolution,[],['1411','1804']) ).

cnf('1806',plain,
    ( ~ node4(c_s,s9,s0)
    | node2(c_s,s9) ),
    inference(resolution,[then_simplify],['1803','28','1805']) ).

cnf('1807',plain,
    ~ node4(c_s,s9,s0),
    inference(resolution,[],['1482','1806']) ).

cnf('1808',plain,
    ( node4(X,Y,Z)
    | ~ m_Communication_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(factorization,[],['33']) ).

cnf('1809',plain,
    ~ trans(s9,s0),
    inference(resolution,[then_simplify],['1807','1808','35']) ).

cnf('1810',plain,
    ( ~ $pr(loop)
    | trans(s9,s9) ),
    inference(resolution,[then_simplify],['1416','1417','1422','1427','1432','1437','1442','1447','1452','1809']) ).

cnf('1811',plain,
    ~ $pr(loop),
    inference(resolution,[],['1303','1810']) ).

cnf('1812',plain,
    ( $pr(loop)
    | ~ xuntil217(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty106]) ).

cnf('1813',plain,
    last(s9),
    inference(cnf_transformation,[],[bound10]) ).

cnf('1814',plain,
    ( ~ xuntil217(s9)
    | $pr(loop) ),
    inference(resolution,[],['1812','1813']) ).

cnf('1815',plain,
    ~ xuntil217(s9),
    inference(resolution,[],['1811','1814']) ).

cnf('1816',plain,
    ( ~ until216(X)
    | xuntil217(X)
    | node215(X) ),
    inference(cnf_transformation,[],[prpty104]) ).

cnf('1817',plain,
    ( node105(X,Y,Z)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Crane_63]) ).

cnf('1818',plain,
    m_Crane_v_s(c_CR,c_s),
    inference(cnf_transformation,[],[m_main_2]) ).

cnf('1819',plain,
    m_Crane_v_s(c_CR,c_s),
    inference(cnf_transformation,[],[m_main_2]) ).

cnf('1820',plain,
    ( node105(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['1817','1818','1819']) ).

cnf('1821',plain,
    node105(c_s,s0,s1),
    inference(resolution,[],['1820','7']) ).

cnf('1822',plain,
    ( ~ node105(X,Y,Z)
    | node104(X,Y,Z)
    | node103(X,Y)
    | node102(X,Y)
    | node101(X,Y)
    | node100(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_62]) ).

cnf('1823',plain,
    ( ~ m_state_v_CHM(X,Y,c_todepbelt)
    | ~ m_state_v_CHM(X,Y,c_idle) ),
    inference(cnf_transformation,[],[m_state_16]) ).

cnf('1824',plain,
    m_state_v_CHM(X,s0,c_idle),
    inference(cnf_transformation,[],[m_state_112]) ).

cnf('1825',plain,
    ~ m_state_v_CHM(X,s0,c_todepbelt),
    inference(resolution,[],['1823','1824']) ).

cnf('1826',plain,
    ( m_state_v_CHM(X,Y,c_todepbelt)
    | ~ node103(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_54]) ).

cnf('1827',plain,
    ~ node103(X3,s0),
    inference(resolution,[],['1825','1826']) ).

cnf('1828',plain,
    ( ~ node102(X,Y)
    | m_state_v_gof(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_51]) ).

cnf('1829',plain,
    ~ m_state_v_gof(X,s0),
    inference(cnf_transformation,[],[m_state_114]) ).

cnf('1830',plain,
    ~ node102(X3,s0),
    inference(resolution,[],['1828','1829']) ).

cnf('1831',plain,
    ( ~ node101(X,Y)
    | m_state_v_gof(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_48]) ).

cnf('1832',plain,
    ~ node101(X3,s0),
    inference(resolution,[],['1831','1829']) ).

cnf('1833',plain,
    ( m_state_v_CVM(X,Y,c_up)
    | ~ node100(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_45]) ).

cnf('1834',plain,
    ~ node100(X3,s0),
    inference(resolution,[],['540','1833']) ).

cnf('1835',plain,
    node104(c_s,s0,s1),
    inference(resolution,[then_simplify],['1821','1822','1827','1830','1832','1834']) ).

cnf('1836',plain,
    ( ~ node104(X,Y,Z)
    | ~ m_state_v_CHM(X,Y,U)
    | m_state_v_CHM(X,Z,U) ),
    inference(cnf_transformation,[],[m_Crane_56]) ).

cnf('1837',plain,
    ( ~ node104(X,s0,Y)
    | m_state_v_CHM(X,Y,c_idle) ),
    inference(resolution,[],['1836','1824']) ).

cnf('1838',plain,
    m_state_v_CHM(c_s,s1,c_idle),
    inference(resolution,[],['1835','1837']) ).

cnf('1839',plain,
    ~ m_state_v_CHM(c_s,s1,c_todepbelt),
    inference(resolution,[],['1838','1823']) ).

cnf('1840',plain,
    ( m_state_v_CHM(X,Y,c_todepbelt)
    | ~ node96(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_30]) ).

cnf('1841',plain,
    ~ node96(c_s,s1),
    inference(resolution,[],['1839','1840']) ).

cnf('1842',plain,
    ( ~ node99(X,Y,Z)
    | node98(X,Y,Z)
    | node97(X,Y)
    | node96(X,Y)
    | node95(X,Y)
    | node94(X,Y)
    | node93(X,Y)
    | node92(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_43]) ).

cnf('1843',plain,
    ( node99(X,Y,Z)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Crane_44]) ).

cnf('1844',plain,
    ( node99(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['1843','1818','1819']) ).

cnf('1845',plain,
    node99(c_s,s0,s1),
    inference(resolution,[],['1844','7']) ).

cnf('1846',plain,
    ( ~ node99(X,Y,Z)
    | ~ m_state_v_CMag(X,Y,c_on)
    | ~ m_state_v_gvp(X,Y,c_ovb)
    | ~ m_state_v_CVM(X,Y,c_idle)
    | m_state_v_CVM(X,Z,c_up) ),
    inference(cnf_transformation,[],[m_Crane_37]) ).

cnf('1847',plain,
    ( ~ m_state_v_CMag(X,Y,c_off)
    | ~ m_state_v_CMag(X,Y,c_on) ),
    inference(cnf_transformation,[],[m_state_18]) ).

cnf('1848',plain,
    m_state_v_CMag(X,s0,c_on),
    inference(cnf_transformation,[],[m_state_107]) ).

cnf('1849',plain,
    ~ m_state_v_CMag(X,s0,c_off),
    inference(resolution,[],['1847','1848']) ).

cnf('1850',plain,
    ( m_state_v_CMag(X,Y,c_off)
    | m_state_v_CMag(X,Y,c_on) ),
    inference(cnf_transformation,[],[m_state_17]) ).

cnf('1851',plain,
    m_state_v_CMag(X3,s0,c_on),
    inference(resolution,[],['1849','1850']) ).

cnf('1852',plain,
    m_state_v_gvp(X0,s0,c_ovb),
    inference(cnf_transformation,[],[m_state_109]) ).

cnf('1853',plain,
    m_state_v_CVM(X0,s0,c_idle),
    inference(cnf_transformation,[],[m_state_111]) ).

cnf('1854',plain,
    m_state_v_CVM(c_s,s1,c_up),
    inference(resolution,[then_simplify],['1845','1846','1851','1852','1853']) ).

cnf('1855',plain,
    ( ~ m_state_v_CVM(X,Y,c_down)
    | ~ m_state_v_CVM(X,Y,c_up) ),
    inference(cnf_transformation,[],[m_state_20]) ).

cnf('1856',plain,
    ~ m_state_v_CVM(c_s,s1,c_down),
    inference(resolution,[],['1854','1855']) ).

cnf('1857',plain,
    ( m_state_v_CVM(X,Y,c_down)
    | ~ node97(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_33]) ).

cnf('1858',plain,
    ~ node97(c_s,s1),
    inference(resolution,[],['1856','1857']) ).

cnf('1859',plain,
    ( node76(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_171]) ).

cnf('1860',plain,
    ( node76(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['1859','53','54']) ).

cnf('1861',plain,
    node76(c_s,s0,s1),
    inference(resolution,[],['1860','7']) ).

cnf('1862',plain,
    ( ~ node76(X,Y,Z)
    | node75(X,Y,Z)
    | m_state_v_CHM(X,Y,c_tofeedbelt)
    | m_state_v_CHM(X,Y,c_todepbelt) ),
    inference(cnf_transformation,[],[m_Sensor_170]) ).

cnf('1863',plain,
    ( ~ m_state_v_CHM(X,Y,c_tofeedbelt)
    | ~ m_state_v_CHM(X,Y,c_idle) ),
    inference(cnf_transformation,[],[m_state_15]) ).

cnf('1864',plain,
    ~ m_state_v_CHM(X3,s0,c_tofeedbelt),
    inference(resolution,[],['1863','1824']) ).

cnf('1865',plain,
    ~ m_state_v_CHM(X3,s0,c_todepbelt),
    inference(resolution,[],['1823','1824']) ).

cnf('1866',plain,
    node75(c_s,s0,s1),
    inference(resolution,[then_simplify],['1861','1862','1864','1865']) ).

cnf('1867',plain,
    ( ~ node75(X,Y,Z)
    | ~ m_state_v_gof(X,Z)
    | m_state_v_gof(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_167]) ).

cnf('1868',plain,
    ( ~ node75(X,s0,Y)
    | ~ m_state_v_gof(X,Y) ),
    inference(resolution,[],['1867','1829']) ).

cnf('1869',plain,
    ~ m_state_v_gof(c_s,s1),
    inference(resolution,[],['1866','1868']) ).

cnf('1870',plain,
    ( ~ node95(X,Y)
    | m_state_v_gof(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_29]) ).

cnf('1871',plain,
    ~ node95(c_s,s1),
    inference(resolution,[],['1869','1870']) ).

cnf('1872',plain,
    ( ~ node94(X,Y)
    | m_state_v_gof(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_21]) ).

cnf('1873',plain,
    ~ node94(c_s,s1),
    inference(resolution,[],['1869','1872']) ).

cnf('1874',plain,
    ( m_state_v_gvp(X,Y,c_sd)
    | ~ node93(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_20]) ).

cnf('1875',plain,
    ~ node93(c_s,s1),
    inference(resolution,[],['942','1874']) ).

cnf('1876',plain,
    ~ m_state_v_CVM(c_s,s1,c_idle),
    inference(resolution,[],['1854','538']) ).

cnf('1877',plain,
    ( m_state_v_CVM(X,Y,c_idle)
    | ~ node92(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_16]) ).

cnf('1878',plain,
    ~ node92(c_s,s1),
    inference(resolution,[],['1876','1877']) ).

cnf('1879',plain,
    ( ~ node99(c_s,s1,X)
    | node98(c_s,s1,X) ),
    inference(resolution,[then_simplify],['1841','1842','1858','1871','1873','1875','1878']) ).

cnf('1880',plain,
    node99(c_s,s1,s2),
    inference(resolution,[],['1844','20']) ).

cnf('1881',plain,
    node98(c_s,s1,s2),
    inference(resolution,[],['1879','1880']) ).

cnf('1882',plain,
    ( ~ node98(X,Y,Z)
    | ~ m_state_v_CVM(X,Y,U)
    | m_state_v_CVM(X,Z,U) ),
    inference(cnf_transformation,[],[m_Crane_35]) ).

cnf('1883',plain,
    ( ~ node98(c_s,s1,X)
    | m_state_v_CVM(c_s,X,c_up) ),
    inference(resolution,[],['1854','1882']) ).

cnf('1884',plain,
    m_state_v_CVM(c_s,s2,c_up),
    inference(resolution,[],['1881','1883']) ).

cnf('1885',plain,
    ( ~ node99(X,Y,Z)
    | ~ m_state_v_gvp(X,Y,c_sd)
    | ~ m_state_v_CVM(X,Y,c_up)
    | m_state_v_CVM(X,Z,c_idle)
    | node92(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_38]) ).

cnf('1886',plain,
    ( ~ node82(X,Y,Z)
    | ~ m_state_v_gripper_status(X,Y,c_gripperstoppedat_ovb)
    | ~ m_state_v_gvp(X,Y,c_ovb)
    | ~ m_state_v_CVM(X,Y,c_up)
    | m_state_v_gvp(X,Z,c_sd) ),
    inference(cnf_transformation,[],[m_Sensor_186]) ).

cnf('1887',plain,
    ( node87(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_204]) ).

cnf('1888',plain,
    ( node87(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['1887','53','54']) ).

cnf('1889',plain,
    node87(c_s,s0,s1),
    inference(resolution,[],['1888','7']) ).

cnf('1890',plain,
    ( ~ node87(X,Y,Z)
    | ~ m_state_v_gvp(X,Y,c_ovb)
    | ~ m_state_v_CVM(X,Y,c_idle)
    | m_state_v_gripper_status(X,Z,c_gripperstoppedat_ovb) ),
    inference(cnf_transformation,[],[m_Sensor_200]) ).

cnf('1891',plain,
    m_state_v_gripper_status(c_s,s1,c_gripperstoppedat_ovb),
    inference(resolution,[then_simplify],['1889','1890','1852','1853']) ).

cnf('1892',plain,
    m_state_v_gvp(c_s,s1,c_ovb),
    inference(resolution,[],['924','939']) ).

cnf('1893',plain,
    ( ~ node82(c_s,s1,X)
    | m_state_v_gvp(c_s,X,c_sd) ),
    inference(resolution,[then_simplify],['1854','1886','1891','1892']) ).

cnf('1894',plain,
    node82(c_s,s1,s2),
    inference(resolution,[],['926','20']) ).

cnf('1895',plain,
    m_state_v_gvp(c_s,s2,c_sd),
    inference(resolution,[],['1893','1894']) ).

cnf('1896',plain,
    m_state_v_gvp(c_s,s2,c_sd),
    inference(resolution,[],['1893','1894']) ).

cnf('1897',plain,
    ~ m_state_v_gvp(c_s,s2,c_ovb),
    inference(resolution,[],['1896','941']) ).

cnf('1898',plain,
    ( m_state_v_gvp(X,Y,c_ovb)
    | ~ node92(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_17]) ).

cnf('1899',plain,
    ~ node92(c_s,s2),
    inference(resolution,[],['1897','1898']) ).

cnf('1900',plain,
    ( ~ node99(c_s,s2,X)
    | m_state_v_CVM(c_s,X,c_idle) ),
    inference(resolution,[then_simplify],['1884','1885','1895','1899']) ).

cnf('1901',plain,
    node99(c_s,s2,s3),
    inference(resolution,[],['1844','98']) ).

cnf('1902',plain,
    m_state_v_CVM(c_s,s3,c_idle),
    inference(resolution,[],['1900','1901']) ).

cnf('1903',plain,
    ~ m_state_v_CVM(c_s,s3,c_up),
    inference(resolution,[],['1902','538']) ).

cnf('1904',plain,
    ( m_state_v_CVM(X,Y,c_up)
    | ~ node93(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_19]) ).

cnf('1905',plain,
    ~ node93(c_s,s3),
    inference(resolution,[],['1903','1904']) ).

cnf('1906',plain,
    ( m_state_v_CVM(X,Y,c_idle)
    | ~ node83(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_192]) ).

cnf('1907',plain,
    ~ node83(c_s,s1),
    inference(resolution,[],['1876','1906']) ).

cnf('1908',plain,
    ( ~ node87(X,Y,Z)
    | node86(X,Y,Z)
    | node85(X,Y)
    | node84(X,Y)
    | node83(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_203]) ).

cnf('1909',plain,
    ( m_state_v_gvp(X,Y,c_sd)
    | ~ node85(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_197]) ).

cnf('1910',plain,
    ~ node85(c_s,s1),
    inference(resolution,[],['942','1909']) ).

cnf('1911',plain,
    ( ~ m_state_v_gvp(X,Y,c_ovb)
    | ~ m_state_v_gvp(X,Y,c_ovf) ),
    inference(cnf_transformation,[],[m_state_70]) ).

cnf('1912',plain,
    ~ m_state_v_gvp(c_s,s1,c_ovf),
    inference(resolution,[],['940','1911']) ).

cnf('1913',plain,
    ( m_state_v_gvp(X,Y,c_ovf)
    | ~ node84(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_195]) ).

cnf('1914',plain,
    ~ node84(c_s,s1),
    inference(resolution,[],['1912','1913']) ).

cnf('1915',plain,
    ( ~ node87(c_s,s1,X)
    | node86(c_s,s1,X) ),
    inference(resolution,[then_simplify],['1907','1908','1910','1914']) ).

cnf('1916',plain,
    node87(c_s,s1,s2),
    inference(resolution,[],['1888','20']) ).

cnf('1917',plain,
    node86(c_s,s1,s2),
    inference(resolution,[],['1915','1916']) ).

cnf('1918',plain,
    m_state_v_gripper_status(c_s,s1,c_gripperstoppedat_ovb),
    inference(resolution,[then_simplify],['1889','1890','1852','1853']) ).

cnf('1919',plain,
    ( ~ m_state_v_gripper_status(X,Y,c_gripperstoppedat_sd)
    | ~ m_state_v_gripper_status(X,Y,c_gripperstoppedat_ovb) ),
    inference(cnf_transformation,[],[m_state_68]) ).

cnf('1920',plain,
    ~ m_state_v_gripper_status(c_s,s1,c_gripperstoppedat_sd),
    inference(resolution,[],['1918','1919']) ).

cnf('1921',plain,
    ( ~ node86(X,Y,Z)
    | ~ m_state_v_gripper_status(X,Z,U)
    | m_state_v_gripper_status(X,Y,U) ),
    inference(cnf_transformation,[],[m_Sensor_199]) ).

cnf('1922',plain,
    ( ~ node86(c_s,s1,X)
    | ~ m_state_v_gripper_status(c_s,X,c_gripperstoppedat_sd) ),
    inference(resolution,[],['1920','1921']) ).

cnf('1923',plain,
    ~ m_state_v_gripper_status(c_s,s2,c_gripperstoppedat_sd),
    inference(resolution,[],['1917','1922']) ).

cnf('1924',plain,
    ( m_state_v_gripper_status(X,Y,c_gripperstoppedat_sd)
    | ~ node78(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_176]) ).

cnf('1925',plain,
    ~ node78(c_s,s2),
    inference(resolution,[],['1923','1924']) ).

cnf('1926',plain,
    ( ~ m_state_v_gvp(X,Y,c_ovf)
    | ~ m_state_v_gvp(X,Y,c_sd) ),
    inference(cnf_transformation,[],[m_state_72]) ).

cnf('1927',plain,
    ~ m_state_v_gvp(c_s,s2,c_ovf),
    inference(resolution,[],['1896','1926']) ).

cnf('1928',plain,
    ( m_state_v_gvp(X,Y,c_ovf)
    | ~ node80(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_181]) ).

cnf('1929',plain,
    ~ node80(c_s,s2),
    inference(resolution,[],['1927','1928']) ).

cnf('1930',plain,
    ( m_state_v_gvp(X,Y,c_ovf)
    | ~ node79(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_178]) ).

cnf('1931',plain,
    ~ node79(c_s,s2),
    inference(resolution,[],['1927','1930']) ).

cnf('1932',plain,
    ( m_state_v_gvp(X,Y,c_ovb)
    | ~ node77(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_172]) ).

cnf('1933',plain,
    ~ node77(c_s,s2),
    inference(resolution,[],['1897','1932']) ).

cnf('1934',plain,
    ( ~ node82(c_s,s2,X)
    | node81(c_s,s2,X) ),
    inference(resolution,[then_simplify],['1925','928','1929','1931','1933']) ).

cnf('1935',plain,
    node82(c_s,s2,s3),
    inference(resolution,[],['926','98']) ).

cnf('1936',plain,
    node81(c_s,s2,s3),
    inference(resolution,[],['1934','1935']) ).

cnf('1937',plain,
    ( ~ node81(X,Y,Z)
    | ~ m_state_v_gvp(X,Z,U)
    | m_state_v_gvp(X,Y,U) ),
    inference(cnf_transformation,[],[m_Sensor_185]) ).

cnf('1938',plain,
    ( ~ node81(c_s,s2,X)
    | ~ m_state_v_gvp(c_s,X,c_ovb) ),
    inference(resolution,[],['1897','1937']) ).

cnf('1939',plain,
    ~ m_state_v_gvp(c_s,s3,c_ovb),
    inference(resolution,[],['1936','1938']) ).

cnf('1940',plain,
    ( m_state_v_gvp(X,Y,c_ovb)
    | ~ node97(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_34]) ).

cnf('1941',plain,
    ~ node97(c_s,s3),
    inference(resolution,[],['1939','1940']) ).

cnf('1942',plain,
    ( ~ node105(X,Y,Z)
    | ~ m_state_v_gvp(X,Y,c_sd)
    | ~ m_state_v_CVM(X,Y,c_up)
    | m_state_v_CHM(X,Z,c_tofeedbelt) ),
    inference(cnf_transformation,[],[m_Crane_58]) ).

cnf('1943',plain,
    ( ~ node105(c_s,s2,X)
    | m_state_v_CHM(c_s,X,c_tofeedbelt) ),
    inference(resolution,[then_simplify],['1884','1942','1895']) ).

cnf('1944',plain,
    node105(c_s,s2,s3),
    inference(resolution,[],['1820','98']) ).

cnf('1945',plain,
    m_state_v_CHM(c_s,s3,c_tofeedbelt),
    inference(resolution,[],['1943','1944']) ).

cnf('1946',plain,
    ( ~ m_state_v_CHM(X,Y,c_tofeedbelt)
    | ~ m_state_v_CHM(X,Y,c_todepbelt) ),
    inference(cnf_transformation,[],[m_state_14]) ).

cnf('1947',plain,
    ~ m_state_v_CHM(c_s,s3,c_todepbelt),
    inference(resolution,[],['1945','1946']) ).

cnf('1948',plain,
    ~ node96(c_s,s3),
    inference(resolution,[],['1947','1840']) ).

cnf('1949',plain,
    ( ~ node81(c_s,s2,X)
    | ~ m_state_v_gvp(c_s,X,c_ovf) ),
    inference(resolution,[],['1927','1937']) ).

cnf('1950',plain,
    ~ m_state_v_gvp(c_s,s3,c_ovf),
    inference(resolution,[],['1936','1949']) ).

cnf('1951',plain,
    ( m_state_v_gvp(X,Y,c_ovf)
    | ~ node95(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_28]) ).

cnf('1952',plain,
    ~ node95(c_s,s3),
    inference(resolution,[],['1950','1951']) ).

cnf('1953',plain,
    ( node185(X,Y,Z)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ m_FeedBelt_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_FeedBelt_45]) ).

cnf('1954',plain,
    ( node185(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['1953','117','118']) ).

cnf('1955',plain,
    node185(c_s,s0,s1),
    inference(resolution,[],['1954','7']) ).

cnf('1956',plain,
    ( ~ node185(X,Y,Z)
    | node184(X,Y,Z)
    | node183(X,Y)
    | node182(X,Y) ),
    inference(cnf_transformation,[],[m_FeedBelt_44]) ).

cnf('1957',plain,
    ( ~ node183(X,Y)
    | ~ m_state_v_tl(X,Y) ),
    inference(cnf_transformation,[],[m_FeedBelt_38]) ).

cnf('1958',plain,
    ~ node183(X,s0),
    inference(resolution,[],['1957','40']) ).

cnf('1959',plain,
    ( m_state_v_FBM(X,Y,c_on)
    | ~ node182(X,Y) ),
    inference(cnf_transformation,[],[m_FeedBelt_30]) ).

cnf('1960',plain,
    ~ node182(X3,s0),
    inference(resolution,[],['124','1959']) ).

cnf('1961',plain,
    ( ~ node185(X,s0,Y)
    | node184(X,s0,Y) ),
    inference(resolution,[then_simplify],['1956','1958','1960']) ).

cnf('1962',plain,
    node184(c_s,s0,s1),
    inference(resolution,[],['1955','1961']) ).

cnf('1963',plain,
    ( ~ node184(X,Y,Z)
    | ~ m_state_v_FBM(X,Z,U)
    | m_state_v_FBM(X,Y,U) ),
    inference(cnf_transformation,[],[m_FeedBelt_41]) ).

cnf('1964',plain,
    ( ~ node184(X,s0,Y)
    | ~ m_state_v_FBM(X,Y,c_on) ),
    inference(resolution,[],['1963','124']) ).

cnf('1965',plain,
    ~ m_state_v_FBM(c_s,s1,c_on),
    inference(resolution,[],['1962','1964']) ).

cnf('1966',plain,
    ( ~ node184(c_s,s1,X)
    | ~ m_state_v_FBM(c_s,X,c_on) ),
    inference(resolution,[],['1965','1963']) ).

cnf('1967',plain,
    node185(c_s,s1,s2),
    inference(resolution,[],['1954','20']) ).

cnf('1968',plain,
    ~ node183(c_s,s1),
    inference(resolution,[],['42','1957']) ).

cnf('1969',plain,
    ( node184(c_s,s1,s2)
    | node182(c_s,s1) ),
    inference(resolution,[then_simplify],['1967','1956','1968']) ).

cnf('1970',plain,
    ~ node182(c_s,s1),
    inference(resolution,[],['1965','1959']) ).

cnf('1971',plain,
    node184(c_s,s1,s2),
    inference(simplify,[],['1969','1970']) ).

cnf('1972',plain,
    ~ m_state_v_FBM(c_s,s2,c_on),
    inference(resolution,[],['1966','1971']) ).

cnf('1973',plain,
    ( m_state_v_FBM(X,Y,c_on)
    | ~ node13(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_35]) ).

cnf('1974',plain,
    ~ node13(c_s,s2),
    inference(resolution,[],['1972','1973']) ).

cnf('1975',plain,
    ( node16(X,Y,Z)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Communication_48]) ).

cnf('1976',plain,
    ( node16(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['1975','34','35']) ).

cnf('1977',plain,
    node16(c_s,s2,s3),
    inference(resolution,[],['1976','98']) ).

cnf('1978',plain,
    ( ~ node16(X,Y,Z)
    | node15(X,Y,Z)
    | node14(X,Y)
    | node13(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_47]) ).

cnf('1979',plain,
    ( node15(c_s,s2,s3)
    | node13(c_s,s2)
    | node14(c_s,s2) ),
    inference(resolution,[],['1977','1978']) ).

cnf('1980',plain,
    ( m_state_v_gvp(X,Y,c_ovf)
    | ~ node14(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_39]) ).

cnf('1981',plain,
    ~ node14(c_s,s2),
    inference(resolution,[],['1927','1980']) ).

cnf('1982',plain,
    ( node15(c_s,s2,s3)
    | node13(c_s,s2) ),
    inference(simplify,[],['1979','1981']) ).

cnf('1983',plain,
    node15(c_s,s2,s3),
    inference(resolution,[],['1974','1982']) ).

cnf('1984',plain,
    ( ~ node15(X,Y,Z)
    | ~ m_state_v_ff(X,Z)
    | m_state_v_ff(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_44]) ).

cnf('1985',plain,
    node16(c_s,s1,s2),
    inference(resolution,[],['1976','20']) ).

cnf('1986',plain,
    ( node15(c_s,s1,s2)
    | node13(c_s,s1)
    | node14(c_s,s1) ),
    inference(resolution,[],['1985','1978']) ).

cnf('1987',plain,
    ~ node13(c_s,s1),
    inference(resolution,[],['1965','1973']) ).

cnf('1988',plain,
    ( ~ node14(X,Y)
    | m_state_v_gof(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_40]) ).

cnf('1989',plain,
    ~ node14(c_s,s1),
    inference(resolution,[],['1869','1988']) ).

cnf('1990',plain,
    node15(c_s,s1,s2),
    inference(simplify,[then_simplify],['1986','1987','1989']) ).

cnf('1991',plain,
    ~ node13(X,s0),
    inference(resolution,[],['124','1973']) ).

cnf('1992',plain,
    ~ node14(X3,s0),
    inference(resolution,[],['1988','1829']) ).

cnf('1993',plain,
    ( ~ node16(X,s0,Y)
    | node15(X,s0,Y) ),
    inference(resolution,[then_simplify],['1991','1978','1992']) ).

cnf('1994',plain,
    node16(c_s,s0,s1),
    inference(resolution,[],['1976','7']) ).

cnf('1995',plain,
    node15(c_s,s0,s1),
    inference(resolution,[],['1993','1994']) ).

cnf('1996',plain,
    ~ m_state_v_ff(X,s0),
    inference(cnf_transformation,[],[m_state_115]) ).

cnf('1997',plain,
    ( ~ node15(X,s0,Y)
    | ~ m_state_v_ff(X,Y) ),
    inference(resolution,[],['1984','1996']) ).

cnf('1998',plain,
    ~ m_state_v_ff(c_s,s1),
    inference(resolution,[],['1995','1997']) ).

cnf('1999',plain,
    ~ m_state_v_ff(c_s,s2),
    inference(resolution,[then_simplify],['1990','1984','1998']) ).

cnf('2000',plain,
    ~ m_state_v_ff(c_s,s3),
    inference(resolution,[then_simplify],['1983','1984','1999']) ).

cnf('2001',plain,
    ( ~ node94(X,Y)
    | m_state_v_ff(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_26]) ).

cnf('2002',plain,
    ~ node94(c_s,s3),
    inference(resolution,[],['2000','2001']) ).

cnf('2003',plain,
    ~ node92(c_s,s3),
    inference(resolution,[],['1939','1898']) ).

cnf('2004',plain,
    ( ~ node99(c_s,s3,X)
    | node98(c_s,s3,X) ),
    inference(resolution,[then_simplify],['1905','1842','1941','1948','1952','2002','2003']) ).

cnf('2005',plain,
    node99(c_s,s3,s4),
    inference(resolution,[],['1844','316']) ).

cnf('2006',plain,
    node98(c_s,s3,s4),
    inference(resolution,[],['2004','2005']) ).

cnf('2007',plain,
    ~ m_state_v_CVM(c_s,s3,c_down),
    inference(resolution,[],['1902','931']) ).

cnf('2008',plain,
    ( ~ node98(X,Y,Z)
    | ~ m_state_v_CVM(X,Z,U)
    | m_state_v_CVM(X,Y,U) ),
    inference(cnf_transformation,[],[m_Crane_36]) ).

cnf('2009',plain,
    ( ~ node98(c_s,s3,X)
    | ~ m_state_v_CVM(c_s,X,c_down) ),
    inference(resolution,[],['2007','2008']) ).

cnf('2010',plain,
    ~ m_state_v_CVM(c_s,s4,c_down),
    inference(resolution,[],['2006','2009']) ).

cnf('2011',plain,
    ~ node78(c_s,s4),
    inference(resolution,[],['2010','935']) ).

cnf('2012',plain,
    ( ~ node98(c_s,s1,X)
    | ~ m_state_v_CVM(c_s,X,c_idle) ),
    inference(resolution,[],['1876','2008']) ).

cnf('2013',plain,
    ~ m_state_v_CVM(c_s,s2,c_idle),
    inference(resolution,[],['1881','2012']) ).

cnf('2014',plain,
    ( m_state_v_CVM(X,Y,c_idle)
    | ~ node85(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_196]) ).

cnf('2015',plain,
    ~ node85(c_s,s2),
    inference(resolution,[],['2013','2014']) ).

cnf('2016',plain,
    ~ node84(c_s,s2),
    inference(resolution,[],['1927','1913']) ).

cnf('2017',plain,
    ( m_state_v_gvp(X,Y,c_ovb)
    | ~ node83(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_193]) ).

cnf('2018',plain,
    ~ node83(c_s,s2),
    inference(resolution,[],['1897','2017']) ).

cnf('2019',plain,
    ( ~ node87(c_s,s2,X)
    | node86(c_s,s2,X) ),
    inference(resolution,[then_simplify],['2015','1908','2016','2018']) ).

cnf('2020',plain,
    node87(c_s,s2,s3),
    inference(resolution,[],['1888','98']) ).

cnf('2021',plain,
    node86(c_s,s2,s3),
    inference(resolution,[],['2019','2020']) ).

cnf('2022',plain,
    ( ~ node86(c_s,s2,X)
    | ~ m_state_v_gripper_status(c_s,X,c_gripperstoppedat_sd) ),
    inference(resolution,[],['1923','1921']) ).

cnf('2023',plain,
    ~ m_state_v_gripper_status(c_s,s3,c_gripperstoppedat_sd),
    inference(resolution,[],['2021','2022']) ).

cnf('2024',plain,
    ~ node78(c_s,s3),
    inference(resolution,[],['2023','1924']) ).

cnf('2025',plain,
    ~ node80(c_s,s3),
    inference(resolution,[],['1950','1928']) ).

cnf('2026',plain,
    ~ node79(c_s,s3),
    inference(resolution,[],['1950','1930']) ).

cnf('2027',plain,
    ~ node77(c_s,s3),
    inference(resolution,[],['1939','1932']) ).

cnf('2028',plain,
    ( ~ node82(c_s,s3,X)
    | node81(c_s,s3,X) ),
    inference(resolution,[then_simplify],['2024','928','2025','2026','2027']) ).

cnf('2029',plain,
    node82(c_s,s3,s4),
    inference(resolution,[],['926','316']) ).

cnf('2030',plain,
    node81(c_s,s3,s4),
    inference(resolution,[],['2028','2029']) ).

cnf('2031',plain,
    ( ~ node81(c_s,s3,X)
    | ~ m_state_v_gvp(c_s,X,c_ovf) ),
    inference(resolution,[],['1950','1937']) ).

cnf('2032',plain,
    ~ m_state_v_gvp(c_s,s4,c_ovf),
    inference(resolution,[],['2030','2031']) ).

cnf('2033',plain,
    ~ node80(c_s,s4),
    inference(resolution,[],['2032','1928']) ).

cnf('2034',plain,
    ~ node79(c_s,s4),
    inference(resolution,[],['2032','1930']) ).

cnf('2035',plain,
    ( ~ node81(c_s,s3,X)
    | ~ m_state_v_gvp(c_s,X,c_ovb) ),
    inference(resolution,[],['1939','1937']) ).

cnf('2036',plain,
    ~ m_state_v_gvp(c_s,s4,c_ovb),
    inference(resolution,[],['2030','2035']) ).

cnf('2037',plain,
    ~ node77(c_s,s4),
    inference(resolution,[],['2036','1932']) ).

cnf('2038',plain,
    ( ~ node82(c_s,s4,X)
    | node81(c_s,s4,X) ),
    inference(resolution,[then_simplify],['2011','928','2033','2034','2037']) ).

cnf('2039',plain,
    node82(c_s,s4,s5),
    inference(resolution,[],['926','626']) ).

cnf('2040',plain,
    node81(c_s,s4,s5),
    inference(resolution,[],['2038','2039']) ).

cnf('2041',plain,
    ( ~ node81(c_s,s4,X)
    | ~ m_state_v_gvp(c_s,X,c_ovb) ),
    inference(resolution,[],['2036','1937']) ).

cnf('2042',plain,
    ~ m_state_v_gvp(c_s,s5,c_ovb),
    inference(resolution,[],['2040','2041']) ).

cnf('2043',plain,
    ~ node92(c_s,s5),
    inference(resolution,[],['2042','1898']) ).

cnf('2044',plain,
    ~ node100(c_s,s3),
    inference(resolution,[],['1903','1833']) ).

cnf('2045',plain,
    ~ node103(c_s,s3),
    inference(resolution,[],['1947','1826']) ).

cnf('2046',plain,
    ( m_state_v_gvp(X,Y,c_ovf)
    | ~ node102(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_50]) ).

cnf('2047',plain,
    ~ node102(c_s,s3),
    inference(resolution,[],['1950','2046']) ).

cnf('2048',plain,
    ( ~ node104(c_s,s1,X)
    | m_state_v_CHM(c_s,X,c_idle) ),
    inference(resolution,[],['1838','1836']) ).

cnf('2049',plain,
    node105(c_s,s1,s2),
    inference(resolution,[],['1820','20']) ).

cnf('2050',plain,
    ~ node102(c_s,s1),
    inference(resolution,[],['1869','1828']) ).

cnf('2051',plain,
    ~ node101(c_s,s1),
    inference(resolution,[],['1869','1831']) ).

cnf('2052',plain,
    ( m_state_v_gvp(X,Y,c_sd)
    | ~ node100(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_46]) ).

cnf('2053',plain,
    ~ node100(c_s,s1),
    inference(resolution,[],['942','2052']) ).

cnf('2054',plain,
    ( node104(c_s,s1,s2)
    | node103(c_s,s1) ),
    inference(resolution,[then_simplify],['2049','1822','2050','2051','2053']) ).

cnf('2055',plain,
    ~ node103(c_s,s1),
    inference(resolution,[],['1839','1826']) ).

cnf('2056',plain,
    node104(c_s,s1,s2),
    inference(simplify,[],['2054','2055']) ).

cnf('2057',plain,
    m_state_v_CHM(c_s,s2,c_idle),
    inference(resolution,[],['2048','2056']) ).

cnf('2058',plain,
    ~ m_state_v_CHM(c_s,s2,c_todepbelt),
    inference(resolution,[],['2057','1823']) ).

cnf('2059',plain,
    ~ m_state_v_CHM(c_s,s2,c_tofeedbelt),
    inference(resolution,[],['2057','1863']) ).

cnf('2060',plain,
    ( ~ node76(c_s,s2,X)
    | node75(c_s,s2,X) ),
    inference(resolution,[then_simplify],['2058','1862','2059']) ).

cnf('2061',plain,
    node76(c_s,s2,s3),
    inference(resolution,[],['1860','98']) ).

cnf('2062',plain,
    node75(c_s,s2,s3),
    inference(resolution,[],['2060','2061']) ).

cnf('2063',plain,
    ~ m_state_v_CHM(c_s,s1,c_tofeedbelt),
    inference(resolution,[],['1838','1863']) ).

cnf('2064',plain,
    ( ~ node76(c_s,s1,X)
    | node75(c_s,s1,X) ),
    inference(resolution,[then_simplify],['1839','1862','2063']) ).

cnf('2065',plain,
    node76(c_s,s1,s2),
    inference(resolution,[],['1860','20']) ).

cnf('2066',plain,
    node75(c_s,s1,s2),
    inference(resolution,[],['2064','2065']) ).

cnf('2067',plain,
    ~ m_state_v_gof(c_s,s1),
    inference(resolution,[],['1866','1868']) ).

cnf('2068',plain,
    ~ m_state_v_gof(c_s,s2),
    inference(resolution,[then_simplify],['2066','1867','2067']) ).

cnf('2069',plain,
    ~ m_state_v_gof(c_s,s3),
    inference(resolution,[then_simplify],['2062','1867','2068']) ).

cnf('2070',plain,
    ~ node101(c_s,s3),
    inference(resolution,[],['2069','1831']) ).

cnf('2071',plain,
    ( ~ node105(c_s,s3,X)
    | node104(c_s,s3,X) ),
    inference(resolution,[then_simplify],['2044','1822','2045','2047','2070']) ).

cnf('2072',plain,
    node105(c_s,s3,s4),
    inference(resolution,[],['1820','316']) ).

cnf('2073',plain,
    node104(c_s,s3,s4),
    inference(resolution,[],['2071','2072']) ).

cnf('2074',plain,
    ( ~ node104(c_s,s3,X)
    | m_state_v_CHM(c_s,X,c_tofeedbelt) ),
    inference(resolution,[],['1945','1836']) ).

cnf('2075',plain,
    m_state_v_CHM(c_s,s4,c_tofeedbelt),
    inference(resolution,[],['2073','2074']) ).

cnf('2076',plain,
    ( node74(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_165]) ).

cnf('2077',plain,
    ( node74(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['2076','53','54']) ).

cnf('2078',plain,
    node74(c_s,s4,s5),
    inference(resolution,[],['2077','626']) ).

cnf('2079',plain,
    ( ~ node74(X0,X1,X2)
    | ~ m_state_v_CHM(X0,X1,c_tofeedbelt)
    | m_state_v_CHM(X0,X1,c_todepbelt)
    | ~ m_state_v_gob(X0,X2) ),
    inference(cnf_transformation,[],[m_Sensor_163]) ).

cnf('2080',plain,
    ( ~ m_state_v_CHM(X0,X1,c_tofeedbelt)
    | ~ m_state_v_CHM(X0,X1,c_todepbelt) ),
    inference(cnf_transformation,[],[m_state_14]) ).

cnf('2081',plain,
    ( ~ node74(X,Y,Z)
    | ~ m_state_v_CHM(X,Y,c_tofeedbelt)
    | ~ m_state_v_gob(X,Z) ),
    inference(simplify,[],['2079','2080']) ).

cnf('2082',plain,
    ( ~ m_state_v_CHM(c_s,s4,c_tofeedbelt)
    | ~ m_state_v_gob(c_s,s5) ),
    inference(resolution,[],['2078','2081']) ).

cnf('2083',plain,
    ~ m_state_v_gob(c_s,s5),
    inference(resolution,[],['2075','2082']) ).

cnf('2084',plain,
    ( ~ node97(X,Y)
    | m_state_v_gob(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_32]) ).

cnf('2085',plain,
    ~ node97(c_s,s5),
    inference(resolution,[],['2083','2084']) ).

cnf('2086',plain,
    ( ~ node96(X,Y)
    | m_state_v_gob(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_31]) ).

cnf('2087',plain,
    ~ node96(c_s,s5),
    inference(resolution,[],['2083','2086']) ).

cnf('2088',plain,
    ( ~ node98(c_s,s4,X)
    | ~ m_state_v_CVM(c_s,X,c_down) ),
    inference(resolution,[],['2010','2008']) ).

cnf('2089',plain,
    ( ~ node98(c_s,s3,X)
    | ~ m_state_v_CVM(c_s,X,c_up) ),
    inference(resolution,[],['1903','2008']) ).

cnf('2090',plain,
    ~ m_state_v_CVM(c_s,s4,c_up),
    inference(resolution,[],['2006','2089']) ).

cnf('2091',plain,
    ~ node93(c_s,s4),
    inference(resolution,[],['2090','1904']) ).

cnf('2092',plain,
    node74(c_s,s3,s4),
    inference(resolution,[],['2077','316']) ).

cnf('2093',plain,
    ( ~ m_state_v_CHM(c_s,s3,c_tofeedbelt)
    | ~ m_state_v_gob(c_s,s4) ),
    inference(resolution,[],['2092','2081']) ).

cnf('2094',plain,
    ~ m_state_v_gob(c_s,s4),
    inference(resolution,[],['1945','2093']) ).

cnf('2095',plain,
    ~ node97(c_s,s4),
    inference(resolution,[],['2094','2084']) ).

cnf('2096',plain,
    ~ node96(c_s,s4),
    inference(resolution,[],['2094','2086']) ).

cnf('2097',plain,
    ~ node95(c_s,s4),
    inference(resolution,[],['2032','1951']) ).

cnf('2098',plain,
    ( ~ node184(c_s,s2,X)
    | ~ m_state_v_FBM(c_s,X,c_on) ),
    inference(resolution,[],['1972','1963']) ).

cnf('2099',plain,
    ~ node182(c_s,s2),
    inference(resolution,[],['1972','1959']) ).

cnf('2100',plain,
    node185(c_s,s2,s3),
    inference(resolution,[],['1954','98']) ).

cnf('2101',plain,
    ( ~ node183(X,Y)
    | m_state_v_minRot(X,Y) ),
    inference(cnf_transformation,[],[m_FeedBelt_35]) ).

cnf('2102',plain,
    ~ node183(c_s,s2),
    inference(resolution,[],['93','2101']) ).

cnf('2103',plain,
    ( node184(c_s,s2,s3)
    | node182(c_s,s2) ),
    inference(resolution,[then_simplify],['2100','1956','2102']) ).

cnf('2104',plain,
    node184(c_s,s2,s3),
    inference(resolution,[],['2099','2103']) ).

cnf('2105',plain,
    ~ m_state_v_FBM(c_s,s3,c_on),
    inference(resolution,[],['2098','2104']) ).

cnf('2106',plain,
    ~ node13(c_s,s3),
    inference(resolution,[],['2105','1973']) ).

cnf('2107',plain,
    ~ node14(c_s,s3),
    inference(resolution,[],['1950','1980']) ).

cnf('2108',plain,
    node16(c_s,s3,s4),
    inference(resolution,[],['1976','316']) ).

cnf('2109',plain,
    ( node15(c_s,s3,s4)
    | node13(c_s,s3)
    | node14(c_s,s3) ),
    inference(resolution,[],['2108','1978']) ).

cnf('2110',plain,
    ( node15(c_s,s3,s4)
    | node13(c_s,s3) ),
    inference(resolution,[],['2107','2109']) ).

cnf('2111',plain,
    node15(c_s,s3,s4),
    inference(resolution,[],['2106','2110']) ).

cnf('2112',plain,
    ~ m_state_v_ff(c_s,s3),
    inference(resolution,[then_simplify],['1983','1984','1999']) ).

cnf('2113',plain,
    ~ m_state_v_ff(c_s,s4),
    inference(resolution,[then_simplify],['2111','1984','2112']) ).

cnf('2114',plain,
    ~ node94(c_s,s4),
    inference(resolution,[],['2113','2001']) ).

cnf('2115',plain,
    ~ node92(c_s,s4),
    inference(resolution,[],['2036','1898']) ).

cnf('2116',plain,
    ( ~ node99(c_s,s4,X)
    | node98(c_s,s4,X) ),
    inference(resolution,[then_simplify],['2091','1842','2095','2096','2097','2114','2115']) ).

cnf('2117',plain,
    node99(c_s,s4,s5),
    inference(resolution,[],['1844','626']) ).

cnf('2118',plain,
    node98(c_s,s4,s5),
    inference(resolution,[],['2116','2117']) ).

cnf('2119',plain,
    ~ m_state_v_CVM(c_s,s5,c_down),
    inference(resolution,[],['2088','2118']) ).

cnf('2120',plain,
    ( m_state_v_CVM(X,Y,c_down)
    | ~ node95(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_27]) ).

cnf('2121',plain,
    ~ node95(c_s,s5),
    inference(resolution,[],['2119','2120']) ).

cnf('2122',plain,
    ~ node182(c_s,s3),
    inference(resolution,[],['2105','1959']) ).

cnf('2123',plain,
    ~ node183(c_s,s3),
    inference(resolution,[],['278','1957']) ).

cnf('2124',plain,
    ( ~ node185(c_s,s3,X)
    | node184(c_s,s3,X) ),
    inference(resolution,[then_simplify],['2122','1956','2123']) ).

cnf('2125',plain,
    node185(c_s,s3,s4),
    inference(resolution,[],['1954','316']) ).

cnf('2126',plain,
    node184(c_s,s3,s4),
    inference(resolution,[],['2124','2125']) ).

cnf('2127',plain,
    ( ~ node184(c_s,s3,X)
    | ~ m_state_v_FBM(c_s,X,c_on) ),
    inference(resolution,[],['2105','1963']) ).

cnf('2128',plain,
    ~ m_state_v_FBM(c_s,s4,c_on),
    inference(resolution,[],['2126','2127']) ).

cnf('2129',plain,
    ~ node13(c_s,s4),
    inference(resolution,[],['2128','1973']) ).

cnf('2130',plain,
    ( ~ node90(X,Y,Z)
    | ~ m_state_v_CMag(X,Y,U)
    | m_state_v_CMag(X,Z,U) ),
    inference(cnf_transformation,[],[m_Crane_10]) ).

cnf('2131',plain,
    m_state_v_CMag(X,s0,c_on),
    inference(resolution,[],['1849','1850']) ).

cnf('2132',plain,
    ( ~ node90(X,s0,Y)
    | m_state_v_CMag(X,Y,c_on) ),
    inference(resolution,[],['2130','2131']) ).

cnf('2133',plain,
    ( node91(X,Y,Z)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ m_Crane_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Crane_15]) ).

cnf('2134',plain,
    ( node91(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['2133','1818','1819']) ).

cnf('2135',plain,
    node91(c_s,s0,s1),
    inference(resolution,[],['2134','7']) ).

cnf('2136',plain,
    ( ~ node91(X,Y,Z)
    | node90(X,Y,Z)
    | node89(X,Y)
    | node88(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_14]) ).

cnf('2137',plain,
    ( ~ node89(X,Y)
    | m_state_v_gof(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_9]) ).

cnf('2138',plain,
    ~ node89(X3,s0),
    inference(resolution,[],['2137','1829']) ).

cnf('2139',plain,
    ( m_state_v_CMag(X,Y,c_off)
    | ~ node88(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_5]) ).

cnf('2140',plain,
    ~ node88(X3,s0),
    inference(resolution,[],['1849','2139']) ).

cnf('2141',plain,
    node90(c_s,s0,s1),
    inference(resolution,[then_simplify],['2135','2136','2138','2140']) ).

cnf('2142',plain,
    m_state_v_CMag(c_s,s1,c_on),
    inference(resolution,[],['2132','2141']) ).

cnf('2143',plain,
    ( ~ node90(c_s,s1,X)
    | m_state_v_CMag(c_s,X,c_on) ),
    inference(resolution,[],['2142','2130']) ).

cnf('2144',plain,
    node91(c_s,s1,s2),
    inference(resolution,[],['2134','20']) ).

cnf('2145',plain,
    ~ node89(c_s,s1),
    inference(resolution,[],['1869','2137']) ).

cnf('2146',plain,
    ( node90(c_s,s1,s2)
    | node88(c_s,s1) ),
    inference(resolution,[then_simplify],['2144','2136','2145']) ).

cnf('2147',plain,
    ( m_state_v_CVM(X,Y,c_idle)
    | ~ node88(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_4]) ).

cnf('2148',plain,
    ~ node88(c_s,s1),
    inference(resolution,[],['1876','2147']) ).

cnf('2149',plain,
    node90(c_s,s1,s2),
    inference(simplify,[],['2146','2148']) ).

cnf('2150',plain,
    m_state_v_CMag(c_s,s2,c_on),
    inference(resolution,[],['2143','2149']) ).

cnf('2151',plain,
    ( ~ node90(c_s,s2,X)
    | m_state_v_CMag(c_s,X,c_on) ),
    inference(resolution,[],['2150','2130']) ).

cnf('2152',plain,
    ( m_state_v_gvp(X,Y,c_ovb)
    | ~ node88(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_2]) ).

cnf('2153',plain,
    ~ node88(c_s,s2),
    inference(resolution,[],['1897','2152']) ).

cnf('2154',plain,
    ( m_state_v_gvp(X,Y,c_ovf)
    | ~ node89(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_8]) ).

cnf('2155',plain,
    ~ node89(c_s,s2),
    inference(resolution,[],['1927','2154']) ).

cnf('2156',plain,
    ( ~ node91(c_s,s2,X)
    | node90(c_s,s2,X) ),
    inference(resolution,[then_simplify],['2153','2136','2155']) ).

cnf('2157',plain,
    node91(c_s,s2,s3),
    inference(resolution,[],['2134','98']) ).

cnf('2158',plain,
    node90(c_s,s2,s3),
    inference(resolution,[],['2156','2157']) ).

cnf('2159',plain,
    m_state_v_CMag(c_s,s3,c_on),
    inference(resolution,[],['2151','2158']) ).

cnf('2160',plain,
    ( ~ node90(c_s,s3,X)
    | m_state_v_CMag(c_s,X,c_on) ),
    inference(resolution,[],['2159','2130']) ).

cnf('2161',plain,
    ~ node89(c_s,s3),
    inference(resolution,[],['1950','2154']) ).

cnf('2162',plain,
    ( ~ node12(X,Y,Z)
    | ~ m_state_v_gvp(X,Y,c_sd)
    | ~ m_state_v_CVM(X,Y,c_up)
    | ~ m_state_v_pbe(X,Z) ),
    inference(cnf_transformation,[],[m_Communication_31]) ).

cnf('2163',plain,
    ( ~ node12(c_s,s2,X)
    | ~ m_state_v_pbe(c_s,X) ),
    inference(resolution,[then_simplify],['1884','2162','1895']) ).

cnf('2164',plain,
    ( node12(X,Y,Z)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ m_Communication_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Communication_34]) ).

cnf('2165',plain,
    ( node12(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['2164','34','35']) ).

cnf('2166',plain,
    node12(c_s,s2,s3),
    inference(resolution,[],['2165','98']) ).

cnf('2167',plain,
    ~ m_state_v_pbe(c_s,s3),
    inference(resolution,[],['2163','2166']) ).

cnf('2168',plain,
    ( ~ node88(X,Y)
    | m_state_v_pbe(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_6]) ).

cnf('2169',plain,
    ~ node88(c_s,s3),
    inference(resolution,[],['2167','2168']) ).

cnf('2170',plain,
    ( ~ node91(c_s,s3,X)
    | node90(c_s,s3,X) ),
    inference(resolution,[then_simplify],['2161','2136','2169']) ).

cnf('2171',plain,
    node91(c_s,s3,s4),
    inference(resolution,[],['2134','316']) ).

cnf('2172',plain,
    node90(c_s,s3,s4),
    inference(resolution,[],['2170','2171']) ).

cnf('2173',plain,
    m_state_v_CMag(c_s,s4,c_on),
    inference(resolution,[],['2160','2172']) ).

cnf('2174',plain,
    ~ m_state_v_CMag(c_s,s4,c_off),
    inference(resolution,[],['2173','1847']) ).

cnf('2175',plain,
    ( m_state_v_CMag(X,Y,c_off)
    | ~ node14(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_42]) ).

cnf('2176',plain,
    ~ node14(c_s,s4),
    inference(resolution,[],['2174','2175']) ).

cnf('2177',plain,
    node16(c_s,s4,s5),
    inference(resolution,[],['1976','626']) ).

cnf('2178',plain,
    ( node15(c_s,s4,s5)
    | node13(c_s,s4)
    | node14(c_s,s4) ),
    inference(resolution,[],['2177','1978']) ).

cnf('2179',plain,
    ( node15(c_s,s4,s5)
    | node13(c_s,s4) ),
    inference(resolution,[],['2176','2178']) ).

cnf('2180',plain,
    node15(c_s,s4,s5),
    inference(resolution,[],['2129','2179']) ).

cnf('2181',plain,
    ~ m_state_v_ff(c_s,s4),
    inference(resolution,[then_simplify],['2111','1984','2112']) ).

cnf('2182',plain,
    ~ m_state_v_ff(c_s,s5),
    inference(resolution,[then_simplify],['2180','1984','2181']) ).

cnf('2183',plain,
    ~ node94(c_s,s5),
    inference(resolution,[],['2182','2001']) ).

cnf('2184',plain,
    ( ~ node98(c_s,s4,X)
    | ~ m_state_v_CVM(c_s,X,c_up) ),
    inference(resolution,[],['2090','2008']) ).

cnf('2185',plain,
    ~ m_state_v_CVM(c_s,s5,c_up),
    inference(resolution,[],['2118','2184']) ).

cnf('2186',plain,
    ~ node93(c_s,s5),
    inference(resolution,[],['2185','1904']) ).

cnf('2187',plain,
    ( ~ node99(c_s,s5,X)
    | node98(c_s,s5,X) ),
    inference(resolution,[then_simplify],['2043','1842','2085','2087','2121','2183','2186']) ).

cnf('2188',plain,
    node99(c_s,s5,s6),
    inference(resolution,[],['1844','710']) ).

cnf('2189',plain,
    node98(c_s,s5,s6),
    inference(resolution,[],['2187','2188']) ).

cnf('2190',plain,
    ( ~ node98(c_s,s5,X)
    | ~ m_state_v_CVM(c_s,X,c_up) ),
    inference(resolution,[],['2185','2008']) ).

cnf('2191',plain,
    ~ m_state_v_CVM(c_s,s6,c_up),
    inference(resolution,[],['2189','2190']) ).

cnf('2192',plain,
    ~ node80(c_s,s6),
    inference(resolution,[],['2191','929']) ).

cnf('2193',plain,
    ( ~ node98(c_s,s5,X)
    | ~ m_state_v_CVM(c_s,X,c_down) ),
    inference(resolution,[],['2119','2008']) ).

cnf('2194',plain,
    ~ m_state_v_CVM(c_s,s6,c_down),
    inference(resolution,[],['2189','2193']) ).

cnf('2195',plain,
    ~ node79(c_s,s6),
    inference(resolution,[],['2194','933']) ).

cnf('2196',plain,
    ~ node78(c_s,s6),
    inference(resolution,[],['2194','935']) ).

cnf('2197',plain,
    ( ~ node81(c_s,s5,X)
    | ~ m_state_v_gvp(c_s,X,c_ovb) ),
    inference(resolution,[],['2042','1937']) ).

cnf('2198',plain,
    ~ node79(c_s,s5),
    inference(resolution,[],['2119','933']) ).

cnf('2199',plain,
    ~ node80(c_s,s5),
    inference(resolution,[],['2185','929']) ).

cnf('2200',plain,
    ~ node78(c_s,s5),
    inference(resolution,[],['2119','935']) ).

cnf('2201',plain,
    ~ node77(c_s,s5),
    inference(resolution,[],['2185','937']) ).

cnf('2202',plain,
    ( ~ node82(c_s,s5,X)
    | node81(c_s,s5,X) ),
    inference(resolution,[then_simplify],['2198','928','2199','2200','2201']) ).

cnf('2203',plain,
    node82(c_s,s5,s6),
    inference(resolution,[],['926','710']) ).

cnf('2204',plain,
    node81(c_s,s5,s6),
    inference(resolution,[],['2202','2203']) ).

cnf('2205',plain,
    ~ m_state_v_gvp(c_s,s6,c_ovb),
    inference(resolution,[],['2197','2204']) ).

cnf('2206',plain,
    ~ node77(c_s,s6),
    inference(resolution,[],['2205','1932']) ).

cnf('2207',plain,
    ( ~ node82(c_s,s6,X)
    | node81(c_s,s6,X) ),
    inference(resolution,[then_simplify],['2192','928','2195','2196','2206']) ).

cnf('2208',plain,
    node82(c_s,s6,s7),
    inference(resolution,[],['926','856']) ).

cnf('2209',plain,
    node81(c_s,s6,s7),
    inference(resolution,[],['2207','2208']) ).

cnf('2210',plain,
    ( ~ node81(c_s,s6,X)
    | ~ m_state_v_gvp(c_s,X,c_ovb) ),
    inference(resolution,[],['2205','1937']) ).

cnf('2211',plain,
    ~ m_state_v_gvp(c_s,s7,c_ovb),
    inference(resolution,[],['2209','2210']) ).

cnf('2212',plain,
    ~ node92(c_s,s7),
    inference(resolution,[],['2211','1898']) ).

cnf('2213',plain,
    ~ node100(c_s,s5),
    inference(resolution,[],['2185','1833']) ).

cnf('2214',plain,
    ( ~ node103(X,Y)
    | m_state_v_gob(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_55]) ).

cnf('2215',plain,
    ~ node103(c_s,s5),
    inference(resolution,[],['2083','2214']) ).

cnf('2216',plain,
    ~ node89(c_s,s4),
    inference(resolution,[],['2032','2154']) ).

cnf('2217',plain,
    ( ~ node88(X,Y)
    | m_state_v_gob(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_1]) ).

cnf('2218',plain,
    ~ node88(c_s,s4),
    inference(resolution,[],['2094','2217']) ).

cnf('2219',plain,
    ( ~ node91(c_s,s4,X)
    | node90(c_s,s4,X) ),
    inference(resolution,[then_simplify],['2216','2136','2218']) ).

cnf('2220',plain,
    node91(c_s,s4,s5),
    inference(resolution,[],['2134','626']) ).

cnf('2221',plain,
    node90(c_s,s4,s5),
    inference(resolution,[],['2219','2220']) ).

cnf('2222',plain,
    ( ~ node90(X,Y,Z)
    | ~ m_state_v_CMag(X,Z,U)
    | m_state_v_CMag(X,Y,U) ),
    inference(cnf_transformation,[],[m_Crane_11]) ).

cnf('2223',plain,
    ( ~ node90(c_s,s4,X)
    | ~ m_state_v_CMag(c_s,X,c_off) ),
    inference(resolution,[],['2174','2222']) ).

cnf('2224',plain,
    ~ m_state_v_CMag(c_s,s5,c_off),
    inference(resolution,[],['2221','2223']) ).

cnf('2225',plain,
    ( m_state_v_CMag(X,Y,c_off)
    | ~ node102(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_53]) ).

cnf('2226',plain,
    ~ node102(c_s,s5),
    inference(resolution,[],['2224','2225']) ).

cnf('2227',plain,
    ~ node100(c_s,s4),
    inference(resolution,[],['2090','1833']) ).

cnf('2228',plain,
    ( ~ node105(X,Y,Z)
    | ~ m_state_v_CHM(X,Y,c_tofeedbelt)
    | m_state_v_CHM(X,Z,c_idle)
    | ~ m_state_v_gof(X,Y)
    | node100(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_59]) ).

cnf('2229',plain,
    m_state_v_CHM(c_s,s4,c_tofeedbelt),
    inference(resolution,[],['2073','2074']) ).

cnf('2230',plain,
    node76(c_s,s3,s4),
    inference(resolution,[],['1860','316']) ).

cnf('2231',plain,
    ( ~ node76(X,Y,Z)
    | ~ m_state_v_CHM(X,Y,c_tofeedbelt)
    | m_state_v_gof(X,Z) ),
    inference(cnf_transformation,[],[m_Sensor_168]) ).

cnf('2232',plain,
    ( ~ m_state_v_CHM(c_s,s3,c_tofeedbelt)
    | m_state_v_gof(c_s,s4) ),
    inference(resolution,[],['2230','2231']) ).

cnf('2233',plain,
    m_state_v_gof(c_s,s4),
    inference(resolution,[],['1945','2232']) ).

cnf('2234',plain,
    ( ~ node105(c_s,s4,X)
    | m_state_v_CHM(c_s,X,c_idle) ),
    inference(resolution,[then_simplify],['2227','2228','2229','2233']) ).

cnf('2235',plain,
    node105(c_s,s4,s5),
    inference(resolution,[],['1820','626']) ).

cnf('2236',plain,
    m_state_v_CHM(c_s,s5,c_idle),
    inference(resolution,[],['2234','2235']) ).

cnf('2237',plain,
    ~ m_state_v_CHM(c_s,s5,c_tofeedbelt),
    inference(resolution,[],['2236','1863']) ).

cnf('2238',plain,
    ( m_state_v_CHM(X,Y,c_tofeedbelt)
    | ~ node101(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_47]) ).

cnf('2239',plain,
    ~ node101(c_s,s5),
    inference(resolution,[],['2237','2238']) ).

cnf('2240',plain,
    ( ~ node105(c_s,s5,X)
    | node104(c_s,s5,X) ),
    inference(resolution,[then_simplify],['2213','1822','2215','2226','2239']) ).

cnf('2241',plain,
    node105(c_s,s5,s6),
    inference(resolution,[],['1820','710']) ).

cnf('2242',plain,
    node104(c_s,s5,s6),
    inference(resolution,[],['2240','2241']) ).

cnf('2243',plain,
    ( ~ node104(X,Y,Z)
    | ~ m_state_v_CHM(X,Z,U)
    | m_state_v_CHM(X,Y,U) ),
    inference(cnf_transformation,[],[m_Crane_57]) ).

cnf('2244',plain,
    ( ~ node104(c_s,s5,X)
    | ~ m_state_v_CHM(c_s,X,c_tofeedbelt) ),
    inference(resolution,[],['2237','2243']) ).

cnf('2245',plain,
    ~ m_state_v_CHM(c_s,s6,c_tofeedbelt),
    inference(resolution,[],['2242','2244']) ).

cnf('2246',plain,
    ( ~ node74(X,Y,Z)
    | node73(X,Y,Z)
    | m_state_v_CHM(X,Y,c_tofeedbelt)
    | m_state_v_CHM(X,Y,c_todepbelt) ),
    inference(cnf_transformation,[],[m_Sensor_164]) ).

cnf('2247',plain,
    ~ m_state_v_CHM(c_s,s5,c_todepbelt),
    inference(resolution,[],['2236','1823']) ).

cnf('2248',plain,
    ( ~ node104(c_s,s5,X)
    | ~ m_state_v_CHM(c_s,X,c_todepbelt) ),
    inference(resolution,[],['2247','2243']) ).

cnf('2249',plain,
    ~ m_state_v_CHM(c_s,s6,c_todepbelt),
    inference(resolution,[],['2242','2248']) ).

cnf('2250',plain,
    ( ~ node74(c_s,s6,X)
    | node73(c_s,s6,X) ),
    inference(resolution,[then_simplify],['2245','2246','2249']) ).

cnf('2251',plain,
    node74(c_s,s6,s7),
    inference(resolution,[],['2077','856']) ).

cnf('2252',plain,
    node73(c_s,s6,s7),
    inference(resolution,[],['2250','2251']) ).

cnf('2253',plain,
    ( ~ node73(X,Y,Z)
    | ~ m_state_v_gob(X,Z)
    | m_state_v_gob(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_161]) ).

cnf('2254',plain,
    ~ m_state_v_CHM(c_s,s5,c_tofeedbelt),
    inference(resolution,[],['2236','1863']) ).

cnf('2255',plain,
    ( ~ node74(c_s,s5,X)
    | node73(c_s,s5,X) ),
    inference(resolution,[then_simplify],['2247','2246','2254']) ).

cnf('2256',plain,
    node74(c_s,s5,s6),
    inference(resolution,[],['2077','710']) ).

cnf('2257',plain,
    node73(c_s,s5,s6),
    inference(resolution,[],['2255','2256']) ).

cnf('2258',plain,
    ~ m_state_v_gob(c_s,s5),
    inference(resolution,[],['2075','2082']) ).

cnf('2259',plain,
    ~ m_state_v_gob(c_s,s6),
    inference(resolution,[then_simplify],['2257','2253','2258']) ).

cnf('2260',plain,
    ~ m_state_v_gob(c_s,s7),
    inference(resolution,[then_simplify],['2252','2253','2259']) ).

cnf('2261',plain,
    ~ node97(c_s,s7),
    inference(resolution,[],['2260','2084']) ).

cnf('2262',plain,
    ~ node96(c_s,s7),
    inference(resolution,[],['2260','2086']) ).

cnf('2263',plain,
    ~ node93(c_s,s6),
    inference(resolution,[],['2191','1904']) ).

cnf('2264',plain,
    ~ m_state_v_gob(c_s,s6),
    inference(resolution,[then_simplify],['2257','2253','2258']) ).

cnf('2265',plain,
    ~ node97(c_s,s6),
    inference(resolution,[],['2264','2084']) ).

cnf('2266',plain,
    ~ node96(c_s,s6),
    inference(resolution,[],['2264','2086']) ).

cnf('2267',plain,
    ~ node95(c_s,s6),
    inference(resolution,[],['2194','2120']) ).

cnf('2268',plain,
    ~ node182(c_s,s4),
    inference(resolution,[],['2128','1959']) ).

cnf('2269',plain,
    ~ node183(c_s,s4),
    inference(resolution,[],['606','1957']) ).

cnf('2270',plain,
    ( ~ node185(c_s,s4,X)
    | node184(c_s,s4,X) ),
    inference(resolution,[then_simplify],['2268','1956','2269']) ).

cnf('2271',plain,
    node185(c_s,s4,s5),
    inference(resolution,[],['1954','626']) ).

cnf('2272',plain,
    node184(c_s,s4,s5),
    inference(resolution,[],['2270','2271']) ).

cnf('2273',plain,
    ( ~ node184(c_s,s4,X)
    | ~ m_state_v_FBM(c_s,X,c_on) ),
    inference(resolution,[],['2128','1963']) ).

cnf('2274',plain,
    ~ m_state_v_FBM(c_s,s5,c_on),
    inference(resolution,[],['2272','2273']) ).

cnf('2275',plain,
    ~ node13(c_s,s5),
    inference(resolution,[],['2274','1973']) ).

cnf('2276',plain,
    ~ node14(c_s,s5),
    inference(resolution,[],['2224','2175']) ).

cnf('2277',plain,
    node16(c_s,s5,s6),
    inference(resolution,[],['1976','710']) ).

cnf('2278',plain,
    ( node15(c_s,s5,s6)
    | node13(c_s,s5)
    | node14(c_s,s5) ),
    inference(resolution,[],['2277','1978']) ).

cnf('2279',plain,
    ( node15(c_s,s5,s6)
    | node13(c_s,s5) ),
    inference(resolution,[],['2276','2278']) ).

cnf('2280',plain,
    node15(c_s,s5,s6),
    inference(resolution,[],['2275','2279']) ).

cnf('2281',plain,
    ~ m_state_v_ff(c_s,s5),
    inference(resolution,[then_simplify],['2180','1984','2181']) ).

cnf('2282',plain,
    ~ m_state_v_ff(c_s,s6),
    inference(resolution,[then_simplify],['2280','1984','2281']) ).

cnf('2283',plain,
    ~ node94(c_s,s6),
    inference(resolution,[],['2282','2001']) ).

cnf('2284',plain,
    ~ node92(c_s,s6),
    inference(resolution,[],['2205','1898']) ).

cnf('2285',plain,
    ( ~ node99(c_s,s6,X)
    | node98(c_s,s6,X) ),
    inference(resolution,[then_simplify],['2263','1842','2265','2266','2267','2283','2284']) ).

cnf('2286',plain,
    node99(c_s,s6,s7),
    inference(resolution,[],['1844','856']) ).

cnf('2287',plain,
    node98(c_s,s6,s7),
    inference(resolution,[],['2285','2286']) ).

cnf('2288',plain,
    ( ~ node98(c_s,s6,X)
    | ~ m_state_v_CVM(c_s,X,c_down) ),
    inference(resolution,[],['2194','2008']) ).

cnf('2289',plain,
    ~ m_state_v_CVM(c_s,s7,c_down),
    inference(resolution,[],['2287','2288']) ).

cnf('2290',plain,
    ~ node95(c_s,s7),
    inference(resolution,[],['2289','2120']) ).

cnf('2291',plain,
    ~ node182(c_s,s5),
    inference(resolution,[],['2274','1959']) ).

cnf('2292',plain,
    ~ node183(c_s,s5),
    inference(resolution,[],['685','1957']) ).

cnf('2293',plain,
    ( ~ node185(c_s,s5,X)
    | node184(c_s,s5,X) ),
    inference(resolution,[then_simplify],['2291','1956','2292']) ).

cnf('2294',plain,
    node185(c_s,s5,s6),
    inference(resolution,[],['1954','710']) ).

cnf('2295',plain,
    node184(c_s,s5,s6),
    inference(resolution,[],['2293','2294']) ).

cnf('2296',plain,
    ( ~ node184(c_s,s5,X)
    | ~ m_state_v_FBM(c_s,X,c_on) ),
    inference(resolution,[],['2274','1963']) ).

cnf('2297',plain,
    ~ m_state_v_FBM(c_s,s6,c_on),
    inference(resolution,[],['2295','2296']) ).

cnf('2298',plain,
    ~ node13(c_s,s6),
    inference(resolution,[],['2297','1973']) ).

cnf('2299',plain,
    ( m_state_v_CVM(X,Y,c_down)
    | ~ node89(X,Y) ),
    inference(cnf_transformation,[],[m_Crane_7]) ).

cnf('2300',plain,
    ~ node89(c_s,s5),
    inference(resolution,[],['2119','2299']) ).

cnf('2301',plain,
    ~ node88(c_s,s5),
    inference(resolution,[],['2083','2217']) ).

cnf('2302',plain,
    ( ~ node91(c_s,s5,X)
    | node90(c_s,s5,X) ),
    inference(resolution,[then_simplify],['2300','2136','2301']) ).

cnf('2303',plain,
    node91(c_s,s5,s6),
    inference(resolution,[],['2134','710']) ).

cnf('2304',plain,
    node90(c_s,s5,s6),
    inference(resolution,[],['2302','2303']) ).

cnf('2305',plain,
    ( ~ node90(c_s,s5,X)
    | ~ m_state_v_CMag(c_s,X,c_off) ),
    inference(resolution,[],['2224','2222']) ).

cnf('2306',plain,
    ~ m_state_v_CMag(c_s,s6,c_off),
    inference(resolution,[],['2304','2305']) ).

cnf('2307',plain,
    ~ node14(c_s,s6),
    inference(resolution,[],['2306','2175']) ).

cnf('2308',plain,
    node16(c_s,s6,s7),
    inference(resolution,[],['1976','856']) ).

cnf('2309',plain,
    ( node15(c_s,s6,s7)
    | node13(c_s,s6)
    | node14(c_s,s6) ),
    inference(resolution,[],['2308','1978']) ).

cnf('2310',plain,
    ( node15(c_s,s6,s7)
    | node13(c_s,s6) ),
    inference(resolution,[],['2307','2309']) ).

cnf('2311',plain,
    node15(c_s,s6,s7),
    inference(resolution,[],['2298','2310']) ).

cnf('2312',plain,
    ~ m_state_v_ff(c_s,s6),
    inference(resolution,[then_simplify],['2280','1984','2281']) ).

cnf('2313',plain,
    ~ m_state_v_ff(c_s,s7),
    inference(resolution,[then_simplify],['2311','1984','2312']) ).

cnf('2314',plain,
    ~ node94(c_s,s7),
    inference(resolution,[],['2313','2001']) ).

cnf('2315',plain,
    ( ~ node98(c_s,s6,X)
    | ~ m_state_v_CVM(c_s,X,c_up) ),
    inference(resolution,[],['2191','2008']) ).

cnf('2316',plain,
    ~ m_state_v_CVM(c_s,s7,c_up),
    inference(resolution,[],['2287','2315']) ).

cnf('2317',plain,
    ~ node93(c_s,s7),
    inference(resolution,[],['2316','1904']) ).

cnf('2318',plain,
    ( ~ node99(c_s,s7,X)
    | node98(c_s,s7,X) ),
    inference(resolution,[then_simplify],['2212','1842','2261','2262','2290','2314','2317']) ).

cnf('2319',plain,
    node99(c_s,s7,s8),
    inference(resolution,[],['1844','1011']) ).

cnf('2320',plain,
    node98(c_s,s7,s8),
    inference(resolution,[],['2318','2319']) ).

cnf('2321',plain,
    ( ~ node98(c_s,s7,X)
    | ~ m_state_v_CVM(c_s,X,c_up) ),
    inference(resolution,[],['2316','2008']) ).

cnf('2322',plain,
    ~ m_state_v_CVM(c_s,s8,c_up),
    inference(resolution,[],['2320','2321']) ).

cnf('2323',plain,
    ~ node93(c_s,s8),
    inference(resolution,[],['2322','1904']) ).

cnf('2324',plain,
    ~ node100(c_s,s6),
    inference(resolution,[],['2191','1833']) ).

cnf('2325',plain,
    ~ node103(c_s,s6),
    inference(resolution,[],['2264','2214']) ).

cnf('2326',plain,
    ~ node102(c_s,s6),
    inference(resolution,[],['2306','2225']) ).

cnf('2327',plain,
    ~ node101(c_s,s6),
    inference(resolution,[],['2245','2238']) ).

cnf('2328',plain,
    ( ~ node105(c_s,s6,X)
    | node104(c_s,s6,X) ),
    inference(resolution,[then_simplify],['2324','1822','2325','2326','2327']) ).

cnf('2329',plain,
    node105(c_s,s6,s7),
    inference(resolution,[],['1820','856']) ).

cnf('2330',plain,
    node104(c_s,s6,s7),
    inference(resolution,[],['2328','2329']) ).

cnf('2331',plain,
    ~ m_state_v_CHM(c_s,s6,c_todepbelt),
    inference(resolution,[],['2242','2248']) ).

cnf('2332',plain,
    ( ~ node104(c_s,s6,X)
    | ~ m_state_v_CHM(c_s,X,c_todepbelt) ),
    inference(resolution,[],['2331','2243']) ).

cnf('2333',plain,
    ~ m_state_v_CHM(c_s,s7,c_todepbelt),
    inference(resolution,[],['2330','2332']) ).

cnf('2334',plain,
    ( ~ node104(c_s,s6,X)
    | ~ m_state_v_CHM(c_s,X,c_tofeedbelt) ),
    inference(resolution,[],['2245','2243']) ).

cnf('2335',plain,
    ~ m_state_v_CHM(c_s,s7,c_tofeedbelt),
    inference(resolution,[],['2330','2334']) ).

cnf('2336',plain,
    ( ~ node74(c_s,s7,X)
    | node73(c_s,s7,X) ),
    inference(resolution,[then_simplify],['2333','2246','2335']) ).

cnf('2337',plain,
    node74(c_s,s7,s8),
    inference(resolution,[],['2077','1011']) ).

cnf('2338',plain,
    node73(c_s,s7,s8),
    inference(resolution,[],['2336','2337']) ).

cnf('2339',plain,
    ~ m_state_v_gob(c_s,s7),
    inference(resolution,[then_simplify],['2252','2253','2259']) ).

cnf('2340',plain,
    ~ m_state_v_gob(c_s,s8),
    inference(resolution,[then_simplify],['2338','2253','2339']) ).

cnf('2341',plain,
    ~ node97(c_s,s8),
    inference(resolution,[],['2340','2084']) ).

cnf('2342',plain,
    ~ node96(c_s,s8),
    inference(resolution,[],['2340','2086']) ).

cnf('2343',plain,
    ( ~ node98(c_s,s7,X)
    | ~ m_state_v_CVM(c_s,X,c_down) ),
    inference(resolution,[],['2289','2008']) ).

cnf('2344',plain,
    ~ m_state_v_CVM(c_s,s8,c_down),
    inference(resolution,[],['2320','2343']) ).

cnf('2345',plain,
    ~ node95(c_s,s8),
    inference(resolution,[],['2344','2120']) ).

cnf('2346',plain,
    ~ node182(c_s,s6),
    inference(resolution,[],['2297','1959']) ).

cnf('2347',plain,
    ~ node183(c_s,s6),
    inference(resolution,[],['834','1957']) ).

cnf('2348',plain,
    ( ~ node185(c_s,s6,X)
    | node184(c_s,s6,X) ),
    inference(resolution,[then_simplify],['2346','1956','2347']) ).

cnf('2349',plain,
    node185(c_s,s6,s7),
    inference(resolution,[],['1954','856']) ).

cnf('2350',plain,
    node184(c_s,s6,s7),
    inference(resolution,[],['2348','2349']) ).

cnf('2351',plain,
    ( ~ node184(c_s,s6,X)
    | ~ m_state_v_FBM(c_s,X,c_on) ),
    inference(resolution,[],['2297','1963']) ).

cnf('2352',plain,
    ~ m_state_v_FBM(c_s,s7,c_on),
    inference(resolution,[],['2350','2351']) ).

cnf('2353',plain,
    ~ node13(c_s,s7),
    inference(resolution,[],['2352','1973']) ).

cnf('2354',plain,
    ~ node89(c_s,s6),
    inference(resolution,[],['2194','2299']) ).

cnf('2355',plain,
    ( node113(X,Y,Z)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_DepositBelt_23]) ).

cnf('2356',plain,
    m_DepositBelt_v_s(c_DB,c_s),
    inference(cnf_transformation,[],[m_main_3]) ).

cnf('2357',plain,
    m_DepositBelt_v_s(c_DB,c_s),
    inference(cnf_transformation,[],[m_main_3]) ).

cnf('2358',plain,
    ( node113(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['2355','2356','2357']) ).

cnf('2359',plain,
    node113(c_s,s1,s2),
    inference(resolution,[],['2358','20']) ).

cnf('2360',plain,
    ( ~ node113(X,Y,Z)
    | node112(X,Y,Z)
    | node111(X,Y)
    | node110(X,Y) ),
    inference(cnf_transformation,[],[m_DepositBelt_22]) ).

cnf('2361',plain,
    ( m_state_v_CVM(X,Y,c_up)
    | ~ node9(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_24]) ).

cnf('2362',plain,
    ~ node9(X,s0),
    inference(resolution,[],['540','2361']) ).

cnf('2363',plain,
    ( ~ node12(X,Y,Z)
    | node11(X,Y,Z)
    | node10(X,Y)
    | node9(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_33]) ).

cnf('2364',plain,
    ( ~ node10(X,Y)
    | m_state_v_crit(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_27]) ).

cnf('2365',plain,
    ~ m_state_v_crit(X,s0),
    inference(cnf_transformation,[],[m_state_104]) ).

cnf('2366',plain,
    ~ node10(X3,s0),
    inference(resolution,[],['2364','2365']) ).

cnf('2367',plain,
    ( ~ node12(X,s0,Y)
    | node11(X,s0,Y) ),
    inference(resolution,[then_simplify],['2362','2363','2366']) ).

cnf('2368',plain,
    node12(c_s,s0,s1),
    inference(resolution,[],['2165','7']) ).

cnf('2369',plain,
    node11(c_s,s0,s1),
    inference(resolution,[],['2367','2368']) ).

cnf('2370',plain,
    ( ~ node11(X,Y,Z)
    | ~ m_state_v_pbe(X,Y)
    | m_state_v_pbe(X,Z) ),
    inference(cnf_transformation,[],[m_Communication_29]) ).

cnf('2371',plain,
    m_state_v_pbe(X,s0),
    inference(cnf_transformation,[],[m_state_113]) ).

cnf('2372',plain,
    ( ~ node11(X,s0,Y)
    | m_state_v_pbe(X,Y) ),
    inference(resolution,[],['2370','2371']) ).

cnf('2373',plain,
    m_state_v_pbe(c_s,s1),
    inference(resolution,[],['2369','2372']) ).

cnf('2374',plain,
    ( ~ node111(X,Y)
    | ~ m_state_v_pbe(X,Y) ),
    inference(cnf_transformation,[],[m_DepositBelt_17]) ).

cnf('2375',plain,
    ~ node111(c_s,s1),
    inference(resolution,[],['2373','2374']) ).

cnf('2376',plain,
    ( node109(X,Y,Z)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ m_DepositBelt_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_DepositBelt_12]) ).

cnf('2377',plain,
    ( node109(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['2376','2356','2357']) ).

cnf('2378',plain,
    node109(c_s,s0,s1),
    inference(resolution,[],['2377','7']) ).

cnf('2379',plain,
    ( ~ node109(X,Y,Z)
    | node108(X,Y,Z)
    | node107(X,Y)
    | node106(X,Y) ),
    inference(cnf_transformation,[],[m_DepositBelt_11]) ).

cnf('2380',plain,
    ( ~ node107(X,Y)
    | m_state_v_crit(X,Y) ),
    inference(cnf_transformation,[],[m_DepositBelt_5]) ).

cnf('2381',plain,
    ~ node107(X,s0),
    inference(resolution,[],['2380','2365']) ).

cnf('2382',plain,
    ( ~ node106(X,Y)
    | m_state_v_pbl(X,Y) ),
    inference(cnf_transformation,[],[m_DepositBelt_3]) ).

cnf('2383',plain,
    ~ m_state_v_pbl(X,s0),
    inference(cnf_transformation,[],[m_state_106]) ).

cnf('2384',plain,
    ~ node106(X3,s0),
    inference(resolution,[],['2382','2383']) ).

cnf('2385',plain,
    ( ~ node109(X,s0,Y)
    | node108(X,s0,Y) ),
    inference(resolution,[then_simplify],['2379','2381','2384']) ).

cnf('2386',plain,
    node108(c_s,s0,s1),
    inference(resolution,[],['2378','2385']) ).

cnf('2387',plain,
    ( ~ node108(X,Y,Z)
    | ~ m_state_v_crit(X,Z)
    | m_state_v_crit(X,Y) ),
    inference(cnf_transformation,[],[m_DepositBelt_8]) ).

cnf('2388',plain,
    ( ~ node108(X,s0,Y)
    | ~ m_state_v_crit(X,Y) ),
    inference(resolution,[],['2387','2365']) ).

cnf('2389',plain,
    ~ m_state_v_crit(c_s,s1),
    inference(resolution,[],['2386','2388']) ).

cnf('2390',plain,
    ( ~ node110(X,Y)
    | m_state_v_crit(X,Y) ),
    inference(cnf_transformation,[],[m_DepositBelt_14]) ).

cnf('2391',plain,
    ~ node110(c_s,s1),
    inference(resolution,[],['2389','2390']) ).

cnf('2392',plain,
    node112(c_s,s1,s2),
    inference(resolution,[then_simplify],['2359','2360','2375','2391']) ).

cnf('2393',plain,
    ( ~ node112(X,Y,Z)
    | ~ m_state_v_DBM(X,Z,U)
    | m_state_v_DBM(X,Y,U) ),
    inference(cnf_transformation,[],[m_DepositBelt_19]) ).

cnf('2394',plain,
    ( ~ m_state_v_DBM(c_s,s2,X)
    | m_state_v_DBM(c_s,s1,X) ),
    inference(resolution,[],['2392','2393']) ).

cnf('2395',plain,
    node113(c_s,s0,s1),
    inference(resolution,[],['2358','7']) ).

cnf('2396',plain,
    ~ node111(X,s0),
    inference(resolution,[],['2374','2371']) ).

cnf('2397',plain,
    ~ node110(X3,s0),
    inference(resolution,[],['2390','2365']) ).

cnf('2398',plain,
    ( ~ node113(X,s0,Y)
    | node112(X,s0,Y) ),
    inference(resolution,[then_simplify],['2360','2396','2397']) ).

cnf('2399',plain,
    node112(c_s,s0,s1),
    inference(resolution,[],['2395','2398']) ).

cnf('2400',plain,
    ( ~ m_state_v_DBM(X,Y,c_idle)
    | ~ m_state_v_DBM(X,Y,c_run) ),
    inference(cnf_transformation,[],[m_state_24]) ).

cnf('2401',plain,
    m_state_v_DBM(X,s0,c_idle),
    inference(cnf_transformation,[],[m_state_105]) ).

cnf('2402',plain,
    ~ m_state_v_DBM(X,s0,c_run),
    inference(resolution,[],['2400','2401']) ).

cnf('2403',plain,
    ( ~ node112(X,s0,Y)
    | ~ m_state_v_DBM(X,Y,c_run) ),
    inference(resolution,[],['2393','2402']) ).

cnf('2404',plain,
    ~ m_state_v_DBM(c_s,s1,c_run),
    inference(resolution,[],['2399','2403']) ).

cnf('2405',plain,
    ~ m_state_v_DBM(c_s,s2,c_run),
    inference(resolution,[],['2394','2404']) ).

cnf('2406',plain,
    ( ~ node112(c_s,s2,X)
    | ~ m_state_v_DBM(c_s,X,c_run) ),
    inference(resolution,[],['2405','2393']) ).

cnf('2407',plain,
    ~ node10(c_s,s1),
    inference(resolution,[],['2389','2364']) ).

cnf('2408',plain,
    ( m_state_v_gvp(X,Y,c_sd)
    | ~ node9(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_25]) ).

cnf('2409',plain,
    ~ node9(c_s,s1),
    inference(resolution,[],['942','2408']) ).

cnf('2410',plain,
    ( ~ node12(c_s,s1,X)
    | node11(c_s,s1,X) ),
    inference(resolution,[then_simplify],['2407','2363','2409']) ).

cnf('2411',plain,
    node12(c_s,s1,s2),
    inference(resolution,[],['2165','20']) ).

cnf('2412',plain,
    node11(c_s,s1,s2),
    inference(resolution,[],['2410','2411']) ).

cnf('2413',plain,
    m_state_v_pbe(c_s,s1),
    inference(resolution,[],['2369','2372']) ).

cnf('2414',plain,
    m_state_v_pbe(c_s,s2),
    inference(resolution,[then_simplify],['2412','2370','2413']) ).

cnf('2415',plain,
    ~ node111(c_s,s2),
    inference(resolution,[],['2414','2374']) ).

cnf('2416',plain,
    node109(c_s,s1,s2),
    inference(resolution,[],['2377','20']) ).

cnf('2417',plain,
    ( node72(X,Y,Z)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ m_Sensor_v_s(U,X)
    | ~ trans(Y,Z) ),
    inference(cnf_transformation,[],[m_Sensor_159]) ).

cnf('2418',plain,
    ( node72(c_s,X,Y)
    | ~ trans(X,Y) ),
    inference(resolution,[then_simplify],['2417','53','54']) ).

cnf('2419',plain,
    node72(c_s,s0,s1),
    inference(resolution,[],['2418','7']) ).

cnf('2420',plain,
    ( ~ node72(X,Y,Z)
    | node71(X,Y,Z)
    | node70(X,Y)
    | node69(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_158]) ).

cnf('2421',plain,
    ( ~ node70(X,Y)
    | m_state_v_crit(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_152]) ).

cnf('2422',plain,
    ~ node70(X3,s0),
    inference(resolution,[],['2421','2365']) ).

cnf('2423',plain,
    ( m_state_v_DBM(X,Y,c_run)
    | ~ node69(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_148]) ).

cnf('2424',plain,
    ~ node69(X3,s0),
    inference(resolution,[],['2402','2423']) ).

cnf('2425',plain,
    node71(c_s,s0,s1),
    inference(resolution,[then_simplify],['2419','2420','2422','2424']) ).

cnf('2426',plain,
    ( ~ node71(X,Y,Z)
    | ~ m_state_v_pbl(X,Z)
    | m_state_v_pbl(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_155]) ).

cnf('2427',plain,
    ( ~ node71(X,s0,Y)
    | ~ m_state_v_pbl(X,Y) ),
    inference(resolution,[],['2426','2383']) ).

cnf('2428',plain,
    ~ m_state_v_pbl(c_s,s1),
    inference(resolution,[],['2425','2427']) ).

cnf('2429',plain,
    ~ node106(c_s,s1),
    inference(resolution,[],['2428','2382']) ).

cnf('2430',plain,
    ( node108(c_s,s1,s2)
    | node107(c_s,s1) ),
    inference(resolution,[then_simplify],['2416','2379','2429']) ).

cnf('2431',plain,
    ~ node107(c_s,s1),
    inference(resolution,[],['2389','2380']) ).

cnf('2432',plain,
    node108(c_s,s1,s2),
    inference(simplify,[],['2430','2431']) ).

cnf('2433',plain,
    ~ m_state_v_crit(c_s,s1),
    inference(resolution,[],['2386','2388']) ).

cnf('2434',plain,
    ~ m_state_v_crit(c_s,s2),
    inference(resolution,[then_simplify],['2432','2387','2433']) ).

cnf('2435',plain,
    ~ node110(c_s,s2),
    inference(resolution,[],['2434','2390']) ).

cnf('2436',plain,
    ( ~ node113(c_s,s2,X)
    | node112(c_s,s2,X) ),
    inference(resolution,[then_simplify],['2415','2360','2435']) ).

cnf('2437',plain,
    node113(c_s,s2,s3),
    inference(resolution,[],['2358','98']) ).

cnf('2438',plain,
    node112(c_s,s2,s3),
    inference(resolution,[],['2436','2437']) ).

cnf('2439',plain,
    ~ m_state_v_DBM(c_s,s3,c_run),
    inference(resolution,[],['2406','2438']) ).

cnf('2440',plain,
    ( m_state_v_DBM(X,Y,c_run)
    | ~ node70(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_151]) ).

cnf('2441',plain,
    ~ node70(c_s,s3),
    inference(resolution,[],['2439','2440']) ).

cnf('2442',plain,
    ( ~ node8(X,Y,Z)
    | ~ m_state_v_gvp(X,Y,c_sd)
    | ~ m_state_v_CVM(X,Y,c_up)
    | m_state_v_brl(X,Z) ),
    inference(cnf_transformation,[],[m_Communication_20]) ).

cnf('2443',plain,
    ( ~ node8(c_s,s2,X)
    | m_state_v_brl(c_s,X) ),
    inference(resolution,[then_simplify],['1884','2442','1895']) ).

cnf('2444',plain,
    node8(c_s,s2,s3),
    inference(resolution,[],['548','98']) ).

cnf('2445',plain,
    m_state_v_brl(c_s,s3),
    inference(resolution,[],['2443','2444']) ).

cnf('2446',plain,
    ( ~ node69(X,Y)
    | ~ m_state_v_brl(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_149]) ).

cnf('2447',plain,
    ~ node69(c_s,s3),
    inference(resolution,[],['2445','2446']) ).

cnf('2448',plain,
    ( ~ node72(c_s,s3,X)
    | node71(c_s,s3,X) ),
    inference(resolution,[then_simplify],['2441','2420','2447']) ).

cnf('2449',plain,
    node72(c_s,s3,s4),
    inference(resolution,[],['2418','316']) ).

cnf('2450',plain,
    node71(c_s,s3,s4),
    inference(resolution,[],['2448','2449']) ).

cnf('2451',plain,
    ~ node69(c_s,s2),
    inference(resolution,[],['2405','2423']) ).

cnf('2452',plain,
    ~ node70(c_s,s2),
    inference(resolution,[],['2434','2421']) ).

cnf('2453',plain,
    ( ~ node72(c_s,s2,X)
    | node71(c_s,s2,X) ),
    inference(resolution,[then_simplify],['2451','2420','2452']) ).

cnf('2454',plain,
    node72(c_s,s2,s3),
    inference(resolution,[],['2418','98']) ).

cnf('2455',plain,
    node71(c_s,s2,s3),
    inference(resolution,[],['2453','2454']) ).

cnf('2456',plain,
    ~ node69(c_s,s1),
    inference(resolution,[],['2404','2423']) ).

cnf('2457',plain,
    ( ~ node70(X,Y)
    | m_state_v_pbl(X,Y) ),
    inference(cnf_transformation,[],[m_Sensor_153]) ).

cnf('2458',plain,
    ~ node70(c_s,s1),
    inference(resolution,[],['2428','2457']) ).

cnf('2459',plain,
    ( ~ node72(c_s,s1,X)
    | node71(c_s,s1,X) ),
    inference(resolution,[then_simplify],['2456','2420','2458']) ).

cnf('2460',plain,
    node72(c_s,s1,s2),
    inference(resolution,[],['2418','20']) ).

cnf('2461',plain,
    node71(c_s,s1,s2),
    inference(resolution,[],['2459','2460']) ).

cnf('2462',plain,
    ~ m_state_v_pbl(c_s,s1),
    inference(resolution,[],['2425','2427']) ).

cnf('2463',plain,
    ~ m_state_v_pbl(c_s,s2),
    inference(resolution,[then_simplify],['2461','2426','2462']) ).

cnf('2464',plain,
    ~ m_state_v_pbl(c_s,s3),
    inference(resolution,[then_simplify],['2455','2426','2463']) ).

cnf('2465',plain,
    ~ m_state_v_pbl(c_s,s4),
    inference(resolution,[then_simplify],['2450','2426','2464']) ).

cnf('2466',plain,
    ~ node106(c_s,s4),
    inference(resolution,[],['2465','2382']) ).

cnf('2467',plain,
    ( m_state_v_DBM(X,Y,c_run)
    | ~ node107(X,Y) ),
    inference(cnf_transformation,[],[m_DepositBelt_4]) ).

cnf('2468',plain,
    ~ node107(c_s,s3),
    inference(resolution,[],['2439','2467']) ).

cnf('2469',plain,
    ( m_state_v_DBM(X,Y,c_run)
    | ~ node106(X,Y) ),
    inference(cnf_transformation,[],[m_DepositBelt_1]) ).

cnf('2470',plain,
    ~ node106(c_s,s3),
    inference(resolution,[],['2439','2469']) ).

cnf('2471',plain,
    ( ~ node109(c_s,s3,X)
    | node108(c_s,s3,X) ),
    inference(resolution,[then_simplify],['2468','2379','2470']) ).

cnf('2472',plain,
    node109(c_s,s3,s4),
    inference(resolution,[],['2377','316']) ).

cnf('2473',plain,
    node108(c_s,s3,s4),
    inference(resolution,[],['2471','2472']) ).

cnf('2474',plain,
    ~ node106(c_s,s2),
    inference(resolution,[],['2405','2469']) ).

cnf('2475',plain,
    ~ node107(c_s,s2),
    inference(resolution,[],['2434','2380']) ).

cnf('2476',plain,
    ( ~ node109(c_s,s2,X)
    | node108(c_s,s2,X) ),
    inference(resolution,[then_simplify],['2474','2379','2475']) ).

cnf('2477',plain,
    node109(c_s,s2,s3),
    inference(resolution,[],['2377','98']) ).

cnf('2478',plain,
    node108(c_s,s2,s3),
    inference(resolution,[],['2476','2477']) ).

cnf('2479',plain,
    ~ m_state_v_crit(c_s,s2),
    inference(resolution,[then_simplify],['2432','2387','2433']) ).

cnf('2480',plain,
    ~ m_state_v_crit(c_s,s3),
    inference(resolution,[then_simplify],['2478','2387','2479']) ).

cnf('2481',plain,
    ~ m_state_v_crit(c_s,s4),
    inference(resolution,[then_simplify],['2473','2387','2480']) ).

cnf('2482',plain,
    ~ node107(c_s,s4),
    inference(resolution,[],['2481','2380']) ).

cnf('2483',plain,
    ( ~ node109(c_s,s4,X)
    | node108(c_s,s4,X) ),
    inference(resolution,[then_simplify],['2466','2379','2482']) ).

cnf('2484',plain,
    node109(c_s,s4,s5),
    inference(resolution,[],['2377','626']) ).

cnf('2485',plain,
    node108(c_s,s4,s5),
    inference(resolution,[],['2483','2484']) ).

cnf('2486',plain,
    ~ m_state_v_crit(c_s,s4),
    inference(resolution,[then_simplify],['2473','2387','2480']) ).

cnf('2487',plain,
    ~ m_state_v_crit(c_s,s5),
    inference(resolution,[then_simplify],['2485','2387','2486']) ).

cnf('2488',plain,
    ~ node10(c_s,s5),
    inference(resolution,[],['2487','2364']) ).

cnf('2489',plain,
    ~ node9(c_s,s5),
    inference(resolution,[],['2185','2361']) ).

cnf('2490',plain,
    node12(c_s,s5,s6),
    inference(resolution,[],['2165','710']) ).

cnf('2491',plain,
    ( node11(c_s,s5,s6)
    | node10(c_s,s5)
    | node9(c_s,s5) ),
    inference(resolution,[],['2490','2363']) ).

cnf('2492',plain,
    ( node11(c_s,s5,s6)
    | node10(c_s,s5) ),
    inference(resolution,[],['2489','2491']) ).

cnf('2493',plain,
    node11(c_s,s5,s6),
    inference(resolution,[],['2488','2492']) ).

cnf('2494',plain,
    ( ~ node11(X,Y,Z)
    | ~ m_state_v_pbe(X,Z)
    | m_state_v_pbe(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_30]) ).

cnf('2495',plain,
    ~ node10(c_s,s4),
    inference(resolution,[],['2481','2364']) ).

cnf('2496',plain,
    ~ node9(c_s,s4),
    inference(resolution,[],['2090','2361']) ).

cnf('2497',plain,
    node12(c_s,s4,s5),
    inference(resolution,[],['2165','626']) ).

cnf('2498',plain,
    ( node11(c_s,s4,s5)
    | node10(c_s,s4)
    | node9(c_s,s4) ),
    inference(resolution,[],['2497','2363']) ).

cnf('2499',plain,
    ( node11(c_s,s4,s5)
    | node10(c_s,s4) ),
    inference(resolution,[],['2496','2498']) ).

cnf('2500',plain,
    node11(c_s,s4,s5),
    inference(resolution,[],['2495','2499']) ).

cnf('2501',plain,
    ( m_state_v_DBM(X,Y,c_run)
    | ~ node10(X,Y) ),
    inference(cnf_transformation,[],[m_Communication_26]) ).

cnf('2502',plain,
    ~ node10(c_s,s3),
    inference(resolution,[],['2439','2501']) ).

cnf('2503',plain,
    ~ node9(c_s,s3),
    inference(resolution,[],['1903','2361']) ).

cnf('2504',plain,
    node12(c_s,s3,s4),
    inference(resolution,[],['2165','316']) ).

cnf('2505',plain,
    ( node11(c_s,s3,s4)
    | node10(c_s,s3)
    | node9(c_s,s3) ),
    inference(resolution,[],['2504','2363']) ).

cnf('2506',plain,
    ( node11(c_s,s3,s4)
    | node10(c_s,s3) ),
    inference(resolution,[],['2503','2505']) ).

cnf('2507',plain,
    node11(c_s,s3,s4),
    inference(resolution,[],['2502','2506']) ).

cnf('2508',plain,
    ~ m_state_v_pbe(c_s,s3),
    inference(resolution,[],['2163','2166']) ).

cnf('2509',plain,
    ~ m_state_v_pbe(c_s,s4),
    inference(resolution,[then_simplify],['2507','2494','2508']) ).

cnf('2510',plain,
    ~ m_state_v_pbe(c_s,s5),
    inference(resolution,[then_simplify],['2500','2494','2509']) ).

cnf('2511',plain,
    ~ m_state_v_pbe(c_s,s6),
    inference(resolution,[then_simplify],['2493','2494','2510']) ).

cnf('2512',plain,
    ~ node88(c_s,s6),
    inference(resolution,[],['2511','2168']) ).

cnf('2513',plain,
    ( ~ node91(c_s,s6,X)
    | node90(c_s,s6,X) ),
    inference(resolution,[then_simplify],['2354','2136','2512']) ).

cnf('2514',plain,
    node91(c_s,s6,s7),
    inference(resolution,[],['2134','856']) ).

cnf('2515',plain,
    node90(c_s,s6,s7),
    inference(resolution,[],['2513','2514']) ).

cnf('2516',plain,
    ( ~ node90(c_s,s6,X)
    | ~ m_state_v_CMag(c_s,X,c_off) ),
    inference(resolution,[],['2306','2222']) ).

cnf('2517',plain,
    ~ m_state_v_CMag(c_s,s7,c_off),
    inference(resolution,[],['2515','2516']) ).

cnf('2518',plain,
    ~ node14(c_s,s7),
    inference(resolution,[],['2517','2175']) ).

cnf('2519',plain,
    node16(c_s,s7,s8),
    inference(resolution,[],['1976','1011']) ).

cnf('2520',plain,
    ( node15(c_s,s7,s8)
    | node13(c_s,s7)
    | node14(c_s,s7) ),
    inference(resolution,[],['2519','1978']) ).

cnf('2521',plain,
    ( node15(c_s,s7,s8)
    | node13(c_s,s7) ),
    inference(resolution,[],['2518','2520']) ).

cnf('2522',plain,
    node15(c_s,s7,s8),
    inference(resolution,[],['2353','2521']) ).

cnf('2523',plain,
    ~ m_state_v_ff(c_s,s7),
    inference(resolution,[then_simplify],['2311','1984','2312']) ).

cnf('2524',plain,
    ~ m_state_v_ff(c_s,s8),
    inference(resolution,[then_simplify],['2522','1984','2523']) ).

cnf('2525',plain,
    ~ node94(c_s,s8),
    inference(resolution,[],['2524','2001']) ).

cnf('2526',plain,
    ( ~ node81(c_s,s7,X)
    | ~ m_state_v_gvp(c_s,X,c_ovb) ),
    inference(resolution,[],['2211','1937']) ).

cnf('2527',plain,
    ~ node79(c_s,s7),
    inference(resolution,[],['2289','933']) ).

cnf('2528',plain,
    ~ node80(c_s,s7),
    inference(resolution,[],['2316','929']) ).

cnf('2529',plain,
    ~ node78(c_s,s7),
    inference(resolution,[],['2289','935']) ).

cnf('2530',plain,
    ~ node77(c_s,s7),
    inference(resolution,[],['2316','937']) ).

cnf('2531',plain,
    ( ~ node82(c_s,s7,X)
    | node81(c_s,s7,X) ),
    inference(resolution,[then_simplify],['2527','928','2528','2529','2530']) ).

cnf('2532',plain,
    node82(c_s,s7,s8),
    inference(resolution,[],['926','1011']) ).

cnf('2533',plain,
    node81(c_s,s7,s8),
    inference(resolution,[],['2531','2532']) ).

cnf('2534',plain,
    ~ m_state_v_gvp(c_s,s8,c_ovb),
    inference(resolution,[],['2526','2533']) ).

cnf('2535',plain,
    ~ node92(c_s,s8),
    inference(resolution,[],['2534','1898']) ).

cnf('2536',plain,
    ( ~ node99(c_s,s8,X)
    | node98(c_s,s8,X) ),
    inference(resolution,[then_simplify],['2323','1842','2341','2342','2345','2525','2535']) ).

cnf('2537',plain,
    node99(c_s,s8,s9),
    inference(resolution,[],['1844','1287']) ).

cnf('2538',plain,
    node98(c_s,s8,s9),
    inference(resolution,[],['2536','2537']) ).

cnf('2539',plain,
    ( ~ node98(c_s,s8,X)
    | ~ m_state_v_CVM(c_s,X,c_down) ),
    inference(resolution,[],['2344','2008']) ).

cnf('2540',plain,
    ~ m_state_v_CVM(c_s,s9,c_down),
    inference(resolution,[],['2538','2539']) ).

cnf('2541',plain,
    ( m_state_v_CVM(c_s,X,c_down)
    | ~ node215(X) ),
    inference(cnf_transformation,[],[prpty100]) ).

cnf('2542',plain,
    ~ node215(s9),
    inference(resolution,[],['2540','2541']) ).

cnf('2543',plain,
    ~ until216(s9),
    inference(resolution,[then_simplify],['1815','1816','2542']) ).

cnf('2544',plain,
    ( ~ node220(X)
    | until216(X)
    | node213(X) ),
    inference(cnf_transformation,[],[prpty111]) ).

cnf('2545',plain,
    ~ node107(c_s,s5),
    inference(resolution,[],['2487','2380']) ).

cnf('2546',plain,
    ~ node70(c_s,s4),
    inference(resolution,[],['2481','2421']) ).

cnf('2547',plain,
    ~ node6(c_s,s3),
    inference(resolution,[],['957','544']) ).

cnf('2548',plain,
    ~ node5(c_s,s3),
    inference(resolution,[],['1903','541']) ).

cnf('2549',plain,
    node8(c_s,s3,s4),
    inference(resolution,[],['548','316']) ).

cnf('2550',plain,
    ( node7(c_s,s3,s4)
    | node6(c_s,s3)
    | node5(c_s,s3) ),
    inference(resolution,[],['2549','543']) ).

cnf('2551',plain,
    ( node7(c_s,s3,s4)
    | node6(c_s,s3) ),
    inference(resolution,[],['2548','2550']) ).

cnf('2552',plain,
    node7(c_s,s3,s4),
    inference(resolution,[],['2547','2551']) ).

cnf('2553',plain,
    ( ~ node7(X,Y,Z)
    | ~ m_state_v_brl(X,Y)
    | m_state_v_brl(X,Z) ),
    inference(cnf_transformation,[],[m_Communication_18]) ).

cnf('2554',plain,
    m_state_v_brl(c_s,s3),
    inference(resolution,[],['2443','2444']) ).

cnf('2555',plain,
    m_state_v_brl(c_s,s4),
    inference(resolution,[then_simplify],['2552','2553','2554']) ).

cnf('2556',plain,
    ~ node69(c_s,s4),
    inference(resolution,[],['2555','2446']) ).

cnf('2557',plain,
    ( ~ node72(c_s,s4,X)
    | node71(c_s,s4,X) ),
    inference(resolution,[then_simplify],['2546','2420','2556']) ).

cnf('2558',plain,
    node72(c_s,s4,s5),
    inference(resolution,[],['2418','626']) ).

cnf('2559',plain,
    node71(c_s,s4,s5),
    inference(resolution,[],['2557','2558']) ).

cnf('2560',plain,
    ~ m_state_v_pbl(c_s,s4),
    inference(resolution,[then_simplify],['2450','2426','2464']) ).

cnf('2561',plain,
    ~ m_state_v_pbl(c_s,s5),
    inference(resolution,[then_simplify],['2559','2426','2560']) ).

cnf('2562',plain,
    ~ node106(c_s,s5),
    inference(resolution,[],['2561','2382']) ).

cnf('2563',plain,
    ( ~ node109(c_s,s5,X)
    | node108(c_s,s5,X) ),
    inference(resolution,[then_simplify],['2545','2379','2562']) ).

cnf('2564',plain,
    node109(c_s,s5,s6),
    inference(resolution,[],['2377','710']) ).

cnf('2565',plain,
    node108(c_s,s5,s6),
    inference(resolution,[],['2563','2564']) ).

cnf('2566',plain,
    ~ m_state_v_crit(c_s,s5),
    inference(resolution,[then_simplify],['2485','2387','2486']) ).

cnf('2567',plain,
    ~ m_state_v_crit(c_s,s6),
    inference(resolution,[then_simplify],['2565','2387','2566']) ).

cnf('2568',plain,
    ~ node107(c_s,s6),
    inference(resolution,[],['2567','2380']) ).

cnf('2569',plain,
    ~ node70(c_s,s5),
    inference(resolution,[],['2561','2457']) ).

cnf('2570',plain,
    ~ node6(c_s,s4),
    inference(resolution,[],['1169','544']) ).

cnf('2571',plain,
    ~ node5(c_s,s4),
    inference(resolution,[],['2090','541']) ).

cnf('2572',plain,
    node8(c_s,s4,s5),
    inference(resolution,[],['548','626']) ).

cnf('2573',plain,
    ( node7(c_s,s4,s5)
    | node6(c_s,s4)
    | node5(c_s,s4) ),
    inference(resolution,[],['2572','543']) ).

cnf('2574',plain,
    ( node7(c_s,s4,s5)
    | node6(c_s,s4) ),
    inference(resolution,[],['2571','2573']) ).

cnf('2575',plain,
    node7(c_s,s4,s5),
    inference(resolution,[],['2570','2574']) ).

cnf('2576',plain,
    m_state_v_brl(c_s,s4),
    inference(resolution,[then_simplify],['2552','2553','2554']) ).

cnf('2577',plain,
    m_state_v_brl(c_s,s5),
    inference(resolution,[then_simplify],['2575','2553','2576']) ).

cnf('2578',plain,
    ~ node69(c_s,s5),
    inference(resolution,[],['2577','2446']) ).

cnf('2579',plain,
    ( ~ node72(c_s,s5,X)
    | node71(c_s,s5,X) ),
    inference(resolution,[then_simplify],['2569','2420','2578']) ).

cnf('2580',plain,
    node72(c_s,s5,s6),
    inference(resolution,[],['2418','710']) ).

cnf('2581',plain,
    node71(c_s,s5,s6),
    inference(resolution,[],['2579','2580']) ).

cnf('2582',plain,
    ~ m_state_v_pbl(c_s,s5),
    inference(resolution,[then_simplify],['2559','2426','2560']) ).

cnf('2583',plain,
    ~ m_state_v_pbl(c_s,s6),
    inference(resolution,[then_simplify],['2581','2426','2582']) ).

cnf('2584',plain,
    ~ node106(c_s,s6),
    inference(resolution,[],['2583','2382']) ).

cnf('2585',plain,
    ( ~ node109(c_s,s6,X)
    | node108(c_s,s6,X) ),
    inference(resolution,[then_simplify],['2568','2379','2584']) ).

cnf('2586',plain,
    node109(c_s,s6,s7),
    inference(resolution,[],['2377','856']) ).

cnf('2587',plain,
    node108(c_s,s6,s7),
    inference(resolution,[],['2585','2586']) ).

cnf('2588',plain,
    ~ m_state_v_crit(c_s,s6),
    inference(resolution,[then_simplify],['2565','2387','2566']) ).

cnf('2589',plain,
    ~ m_state_v_crit(c_s,s7),
    inference(resolution,[then_simplify],['2587','2387','2588']) ).

cnf('2590',plain,
    ~ node107(c_s,s7),
    inference(resolution,[],['2589','2380']) ).

cnf('2591',plain,
    ~ node70(c_s,s6),
    inference(resolution,[],['2583','2457']) ).

cnf('2592',plain,
    ~ node6(c_s,s5),
    inference(resolution,[],['1233','544']) ).

cnf('2593',plain,
    ~ node5(c_s,s5),
    inference(resolution,[],['2185','541']) ).

cnf('2594',plain,
    node8(c_s,s5,s6),
    inference(resolution,[],['548','710']) ).

cnf('2595',plain,
    ( node7(c_s,s5,s6)
    | node6(c_s,s5)
    | node5(c_s,s5) ),
    inference(resolution,[],['2594','543']) ).

cnf('2596',plain,
    ( node7(c_s,s5,s6)
    | node6(c_s,s5) ),
    inference(resolution,[],['2593','2595']) ).

cnf('2597',plain,
    node7(c_s,s5,s6),
    inference(resolution,[],['2592','2596']) ).

cnf('2598',plain,
    m_state_v_brl(c_s,s5),
    inference(resolution,[then_simplify],['2575','2553','2576']) ).

cnf('2599',plain,
    m_state_v_brl(c_s,s6),
    inference(resolution,[then_simplify],['2597','2553','2598']) ).

cnf('2600',plain,
    ~ node69(c_s,s6),
    inference(resolution,[],['2599','2446']) ).

cnf('2601',plain,
    ( ~ node72(c_s,s6,X)
    | node71(c_s,s6,X) ),
    inference(resolution,[then_simplify],['2591','2420','2600']) ).

cnf('2602',plain,
    node72(c_s,s6,s7),
    inference(resolution,[],['2418','856']) ).

cnf('2603',plain,
    node71(c_s,s6,s7),
    inference(resolution,[],['2601','2602']) ).

cnf('2604',plain,
    ~ m_state_v_pbl(c_s,s6),
    inference(resolution,[then_simplify],['2581','2426','2582']) ).

cnf('2605',plain,
    ~ m_state_v_pbl(c_s,s7),
    inference(resolution,[then_simplify],['2603','2426','2604']) ).

cnf('2606',plain,
    ~ node106(c_s,s7),
    inference(resolution,[],['2605','2382']) ).

cnf('2607',plain,
    ( ~ node109(c_s,s7,X)
    | node108(c_s,s7,X) ),
    inference(resolution,[then_simplify],['2590','2379','2606']) ).

cnf('2608',plain,
    node109(c_s,s7,s8),
    inference(resolution,[],['2377','1011']) ).

cnf('2609',plain,
    node108(c_s,s7,s8),
    inference(resolution,[],['2607','2608']) ).

cnf('2610',plain,
    ~ m_state_v_crit(c_s,s7),
    inference(resolution,[then_simplify],['2587','2387','2588']) ).

cnf('2611',plain,
    ~ m_state_v_crit(c_s,s8),
    inference(resolution,[then_simplify],['2609','2387','2610']) ).

cnf('2612',plain,
    ~ node10(c_s,s8),
    inference(resolution,[],['2611','2364']) ).

cnf('2613',plain,
    ~ node9(c_s,s8),
    inference(resolution,[],['2322','2361']) ).

cnf('2614',plain,
    node12(c_s,s8,s9),
    inference(resolution,[],['2165','1287']) ).

cnf('2615',plain,
    ( node11(c_s,s8,s9)
    | node10(c_s,s8)
    | node9(c_s,s8) ),
    inference(resolution,[],['2614','2363']) ).

cnf('2616',plain,
    ( node11(c_s,s8,s9)
    | node10(c_s,s8) ),
    inference(resolution,[],['2613','2615']) ).

cnf('2617',plain,
    node11(c_s,s8,s9),
    inference(resolution,[],['2612','2616']) ).

cnf('2618',plain,
    ~ node10(c_s,s7),
    inference(resolution,[],['2589','2364']) ).

cnf('2619',plain,
    ~ node9(c_s,s7),
    inference(resolution,[],['2316','2361']) ).

cnf('2620',plain,
    node12(c_s,s7,s8),
    inference(resolution,[],['2165','1011']) ).

cnf('2621',plain,
    ( node11(c_s,s7,s8)
    | node10(c_s,s7)
    | node9(c_s,s7) ),
    inference(resolution,[],['2620','2363']) ).

cnf('2622',plain,
    ( node11(c_s,s7,s8)
    | node10(c_s,s7) ),
    inference(resolution,[],['2619','2621']) ).

cnf('2623',plain,
    node11(c_s,s7,s8),
    inference(resolution,[],['2618','2622']) ).

cnf('2624',plain,
    ~ node10(c_s,s6),
    inference(resolution,[],['2567','2364']) ).

cnf('2625',plain,
    ~ node9(c_s,s6),
    inference(resolution,[],['2191','2361']) ).

cnf('2626',plain,
    node12(c_s,s6,s7),
    inference(resolution,[],['2165','856']) ).

cnf('2627',plain,
    ( node11(c_s,s6,s7)
    | node10(c_s,s6)
    | node9(c_s,s6) ),
    inference(resolution,[],['2626','2363']) ).

cnf('2628',plain,
    ( node11(c_s,s6,s7)
    | node10(c_s,s6) ),
    inference(resolution,[],['2625','2627']) ).

cnf('2629',plain,
    node11(c_s,s6,s7),
    inference(resolution,[],['2624','2628']) ).

cnf('2630',plain,
    ~ m_state_v_pbe(c_s,s6),
    inference(resolution,[then_simplify],['2493','2494','2510']) ).

cnf('2631',plain,
    ~ m_state_v_pbe(c_s,s7),
    inference(resolution,[then_simplify],['2629','2494','2630']) ).

cnf('2632',plain,
    ~ m_state_v_pbe(c_s,s8),
    inference(resolution,[then_simplify],['2623','2494','2631']) ).

cnf('2633',plain,
    ~ m_state_v_pbe(c_s,s9),
    inference(resolution,[then_simplify],['2617','2494','2632']) ).

cnf('2634',plain,
    ( m_state_v_pbe(c_s,X)
    | ~ node213(X) ),
    inference(cnf_transformation,[],[prpty95]) ).

cnf('2635',plain,
    ~ node213(s9),
    inference(resolution,[],['2633','2634']) ).

cnf('2636',plain,
    ~ node220(s9),
    inference(resolution,[then_simplify],['2543','2544','2635']) ).

cnf('2637',plain,
    ( ~ until221(X)
    | xuntil222(X)
    | node220(X) ),
    inference(cnf_transformation,[],[prpty112]) ).

cnf('2638',plain,
    ( $pr(loop)
    | ~ xuntil222(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty114]) ).

cnf('2639',plain,
    ( ~ xuntil222(s9)
    | $pr(loop) ),
    inference(resolution,[],['2638','1813']) ).

cnf('2640',plain,
    ~ xuntil222(s9),
    inference(resolution,[],['1811','2639']) ).

cnf('2641',plain,
    ~ until221(s9),
    inference(resolution,[then_simplify],['2636','2637','2640']) ).

cnf('2642',plain,
    ( ~ node225(X)
    | until221(X)
    | node211(X) ),
    inference(cnf_transformation,[],[prpty119]) ).

cnf('2643',plain,
    ~ node107(c_s,s8),
    inference(resolution,[],['2611','2380']) ).

cnf('2644',plain,
    ~ node70(c_s,s7),
    inference(resolution,[],['2605','2457']) ).

cnf('2645',plain,
    ~ node6(c_s,s6),
    inference(resolution,[],['1331','544']) ).

cnf('2646',plain,
    ~ node5(c_s,s6),
    inference(resolution,[],['2191','541']) ).

cnf('2647',plain,
    node8(c_s,s6,s7),
    inference(resolution,[],['548','856']) ).

cnf('2648',plain,
    ( node7(c_s,s6,s7)
    | node6(c_s,s6)
    | node5(c_s,s6) ),
    inference(resolution,[],['2647','543']) ).

cnf('2649',plain,
    ( node7(c_s,s6,s7)
    | node6(c_s,s6) ),
    inference(resolution,[],['2646','2648']) ).

cnf('2650',plain,
    node7(c_s,s6,s7),
    inference(resolution,[],['2645','2649']) ).

cnf('2651',plain,
    m_state_v_brl(c_s,s6),
    inference(resolution,[then_simplify],['2597','2553','2598']) ).

cnf('2652',plain,
    m_state_v_brl(c_s,s7),
    inference(resolution,[then_simplify],['2650','2553','2651']) ).

cnf('2653',plain,
    ~ node69(c_s,s7),
    inference(resolution,[],['2652','2446']) ).

cnf('2654',plain,
    ( ~ node72(c_s,s7,X)
    | node71(c_s,s7,X) ),
    inference(resolution,[then_simplify],['2644','2420','2653']) ).

cnf('2655',plain,
    node72(c_s,s7,s8),
    inference(resolution,[],['2418','1011']) ).

cnf('2656',plain,
    node71(c_s,s7,s8),
    inference(resolution,[],['2654','2655']) ).

cnf('2657',plain,
    ~ m_state_v_pbl(c_s,s7),
    inference(resolution,[then_simplify],['2603','2426','2604']) ).

cnf('2658',plain,
    ~ m_state_v_pbl(c_s,s8),
    inference(resolution,[then_simplify],['2656','2426','2657']) ).

cnf('2659',plain,
    ~ node106(c_s,s8),
    inference(resolution,[],['2658','2382']) ).

cnf('2660',plain,
    ( ~ node109(c_s,s8,X)
    | node108(c_s,s8,X) ),
    inference(resolution,[then_simplify],['2643','2379','2659']) ).

cnf('2661',plain,
    node109(c_s,s8,s9),
    inference(resolution,[],['2377','1287']) ).

cnf('2662',plain,
    node108(c_s,s8,s9),
    inference(resolution,[],['2660','2661']) ).

cnf('2663',plain,
    ~ m_state_v_crit(c_s,s8),
    inference(resolution,[then_simplify],['2609','2387','2610']) ).

cnf('2664',plain,
    ~ m_state_v_crit(c_s,s9),
    inference(resolution,[then_simplify],['2662','2387','2663']) ).

cnf('2665',plain,
    ( m_state_v_crit(c_s,X)
    | ~ node211(X) ),
    inference(cnf_transformation,[],[prpty85]) ).

cnf('2666',plain,
    ~ node211(s9),
    inference(resolution,[],['2664','2665']) ).

cnf('2667',plain,
    ~ node225(s9),
    inference(resolution,[then_simplify],['2641','2642','2666']) ).

cnf('2668',plain,
    ( ~ until226(X)
    | xuntil227(X)
    | node225(X) ),
    inference(cnf_transformation,[],[prpty120]) ).

cnf('2669',plain,
    ( $pr(loop)
    | ~ xuntil227(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty122]) ).

cnf('2670',plain,
    ( ~ xuntil227(s9)
    | $pr(loop) ),
    inference(resolution,[],['2669','1813']) ).

cnf('2671',plain,
    ~ xuntil227(s9),
    inference(resolution,[],['1811','2670']) ).

cnf('2672',plain,
    ~ until226(s9),
    inference(resolution,[then_simplify],['2667','2668','2671']) ).

cnf('2673',plain,
    ( ~ node230(X)
    | until226(X)
    | node209(X) ),
    inference(cnf_transformation,[],[prpty127]) ).

cnf('2674',plain,
    ( $pr(loop)
    | ~ always208(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty77]) ).

cnf('2675',plain,
    ( ~ always208(s9)
    | $pr(loop) ),
    inference(resolution,[],['2674','1813']) ).

cnf('2676',plain,
    ~ always208(s9),
    inference(resolution,[],['1811','2675']) ).

cnf('2677',plain,
    ( ~ node209(X)
    | always208(X) ),
    inference(cnf_transformation,[],[prpty80]) ).

cnf('2678',plain,
    ~ node209(s9),
    inference(resolution,[],['2676','2677']) ).

cnf('2679',plain,
    ~ node230(s9),
    inference(resolution,[then_simplify],['2672','2673','2678']) ).

cnf('2680',plain,
    ( ~ until231(X)
    | xuntil232(X)
    | node230(X) ),
    inference(cnf_transformation,[],[prpty128]) ).

cnf('2681',plain,
    ( $pr(loop)
    | ~ xuntil232(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty130]) ).

cnf('2682',plain,
    ( ~ xuntil232(s9)
    | $pr(loop) ),
    inference(resolution,[],['2681','1813']) ).

cnf('2683',plain,
    ~ xuntil232(s9),
    inference(resolution,[],['1811','2682']) ).

cnf('2684',plain,
    ~ until231(s9),
    inference(resolution,[then_simplify],['2679','2680','2683']) ).

cnf('2685',plain,
    ( ~ node235(X)
    | until231(X)
    | node207(X) ),
    inference(cnf_transformation,[],[prpty135]) ).

cnf('2686',plain,
    ( m_state_v_angle(c_s,X,c_arm2todepbelt)
    | ~ node207(X) ),
    inference(cnf_transformation,[],[prpty71]) ).

cnf('2687',plain,
    ~ node207(s9),
    inference(resolution,[],['1388','2686']) ).

cnf('2688',plain,
    ~ node235(s9),
    inference(resolution,[then_simplify],['2684','2685','2687']) ).

cnf('2689',plain,
    ( ~ until236(X)
    | xuntil237(X)
    | node235(X) ),
    inference(cnf_transformation,[],[prpty136]) ).

cnf('2690',plain,
    ( $pr(loop)
    | ~ xuntil237(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty138]) ).

cnf('2691',plain,
    ( ~ xuntil237(s9)
    | $pr(loop) ),
    inference(resolution,[],['2690','1813']) ).

cnf('2692',plain,
    ~ xuntil237(s9),
    inference(resolution,[],['1811','2691']) ).

cnf('2693',plain,
    ~ until236(s9),
    inference(resolution,[then_simplify],['2688','2689','2692']) ).

cnf('2694',plain,
    ( ~ node240(X)
    | until236(X)
    | node205(X) ),
    inference(cnf_transformation,[],[prpty143]) ).

cnf('2695',plain,
    ( ~ node35(c_s,s5,X)
    | ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
    inference(resolution,[],['1321','912']) ).

cnf('2696',plain,
    ( ~ node140(c_s,s4,X)
    | ~ m_state_v_A2M(c_s,X,c_extend) ),
    inference(resolution,[],['1311','514']) ).

cnf('2697',plain,
    ~ m_state_v_A2M(c_s,s5,c_extend),
    inference(resolution,[],['2696','1231']) ).

cnf('2698',plain,
    ~ node34(c_s,s5),
    inference(resolution,[],['2697','397']) ).

cnf('2699',plain,
    node36(c_s,s5,s6),
    inference(resolution,[],['403','710']) ).

cnf('2700',plain,
    ( m_state_v_A2M(c_s,s5,c_retract)
    | node35(c_s,s5,s6)
    | node33(c_s,s5)
    | node34(c_s,s5) ),
    inference(resolution,[],['2699','394']) ).

cnf('2701',plain,
    ~ m_state_v_A2M(c_s,s5,c_retract),
    inference(resolution,[],['1231','1232']) ).

cnf('2702',plain,
    ~ node33(c_s,s5),
    inference(resolution,[],['2697','399']) ).

cnf('2703',plain,
    node35(c_s,s5,s6),
    inference(resolution,[then_simplify],['2698','2700','2701','2702']) ).

cnf('2704',plain,
    ~ m_state_v_a2ext(c_s,s6,c_a2ip),
    inference(resolution,[],['2695','2703']) ).

cnf('2705',plain,
    ( ~ node35(c_s,s6,X)
    | ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
    inference(resolution,[],['2704','912']) ).

cnf('2706',plain,
    ( ~ node140(c_s,s5,X)
    | ~ m_state_v_A2M(c_s,X,c_extend) ),
    inference(resolution,[],['2697','514']) ).

cnf('2707',plain,
    ~ m_state_v_A2M(c_s,s6,c_extend),
    inference(resolution,[],['2706','1329']) ).

cnf('2708',plain,
    ~ node34(c_s,s6),
    inference(resolution,[],['2707','397']) ).

cnf('2709',plain,
    node36(c_s,s6,s7),
    inference(resolution,[],['403','856']) ).

cnf('2710',plain,
    ( m_state_v_A2M(c_s,s6,c_retract)
    | node35(c_s,s6,s7)
    | node33(c_s,s6)
    | node34(c_s,s6) ),
    inference(resolution,[],['2709','394']) ).

cnf('2711',plain,
    ~ m_state_v_A2M(c_s,s6,c_retract),
    inference(resolution,[],['1329','1330']) ).

cnf('2712',plain,
    ~ node33(c_s,s6),
    inference(resolution,[],['2707','399']) ).

cnf('2713',plain,
    node35(c_s,s6,s7),
    inference(resolution,[then_simplify],['2708','2710','2711','2712']) ).

cnf('2714',plain,
    ~ m_state_v_a2ext(c_s,s7,c_a2ip),
    inference(resolution,[],['2705','2713']) ).

cnf('2715',plain,
    ( ~ node35(c_s,s7,X)
    | ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
    inference(resolution,[],['2714','912']) ).

cnf('2716',plain,
    ( ~ node140(c_s,s6,X)
    | ~ m_state_v_A2M(c_s,X,c_extend) ),
    inference(resolution,[],['2707','514']) ).

cnf('2717',plain,
    ~ node139(c_s,s6),
    inference(resolution,[],['1331','494']) ).

cnf('2718',plain,
    ~ node138(c_s,s6),
    inference(resolution,[],['1331','496']) ).

cnf('2719',plain,
    ( ~ node35(c_s,s5,X)
    | ~ m_state_v_a2ext(c_s,X,c_ob) ),
    inference(resolution,[],['1318','912']) ).

cnf('2720',plain,
    ~ m_state_v_a2ext(c_s,s6,c_ob),
    inference(resolution,[],['2719','2703']) ).

cnf('2721',plain,
    ~ node137(c_s,s6),
    inference(resolution,[],['2720','499']) ).

cnf('2722',plain,
    ~ node136(c_s,s6),
    inference(resolution,[],['2704','532']) ).

cnf('2723',plain,
    ~ node135(c_s,s6),
    inference(resolution,[],['2720','534']) ).

cnf('2724',plain,
    ~ node134(c_s,s6),
    inference(resolution,[],['2704','536']) ).

cnf('2725',plain,
    ~ node133(c_s,s6),
    inference(resolution,[],['982','1225']) ).

cnf('2726',plain,
    ~ node132(c_s,s6),
    inference(resolution,[],['982','1227']) ).

cnf('2727',plain,
    ( ~ node141(c_s,s6,X)
    | node140(c_s,s6,X) ),
    inference(resolution,[then_simplify],['2717','493','2718','2721','2722','2723','2724','2725','2726']) ).

cnf('2728',plain,
    node141(c_s,s6,s7),
    inference(resolution,[],['491','856']) ).

cnf('2729',plain,
    node140(c_s,s6,s7),
    inference(resolution,[],['2727','2728']) ).

cnf('2730',plain,
    ~ m_state_v_A2M(c_s,s7,c_extend),
    inference(resolution,[],['2716','2729']) ).

cnf('2731',plain,
    ~ node34(c_s,s7),
    inference(resolution,[],['2730','397']) ).

cnf('2732',plain,
    node36(c_s,s7,s8),
    inference(resolution,[],['403','1011']) ).

cnf('2733',plain,
    ( m_state_v_A2M(c_s,s7,c_retract)
    | node35(c_s,s7,s8)
    | node33(c_s,s7)
    | node34(c_s,s7) ),
    inference(resolution,[],['2732','394']) ).

cnf('2734',plain,
    ( ~ node140(c_s,s6,X)
    | ~ m_state_v_A2M(c_s,X,c_retract) ),
    inference(resolution,[],['1331','514']) ).

cnf('2735',plain,
    ~ m_state_v_A2M(c_s,s7,c_retract),
    inference(resolution,[],['2729','2734']) ).

cnf('2736',plain,
    ~ node33(c_s,s7),
    inference(resolution,[],['2730','399']) ).

cnf('2737',plain,
    node35(c_s,s7,s8),
    inference(resolution,[then_simplify],['2731','2733','2735','2736']) ).

cnf('2738',plain,
    ~ m_state_v_a2ext(c_s,s8,c_a2ip),
    inference(resolution,[],['2715','2737']) ).

cnf('2739',plain,
    ( ~ node35(c_s,s8,X)
    | ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
    inference(resolution,[],['2738','912']) ).

cnf('2740',plain,
    ~ node132(c_s,s7),
    inference(resolution,[],['1304','555']) ).

cnf('2741',plain,
    ~ m_state_v_A2M(c_s,s7,c_retract),
    inference(resolution,[],['2729','2734']) ).

cnf('2742',plain,
    ~ node139(c_s,s7),
    inference(resolution,[],['2741','494']) ).

cnf('2743',plain,
    ~ node138(c_s,s7),
    inference(resolution,[],['2741','496']) ).

cnf('2744',plain,
    ( ~ node35(c_s,s6,X)
    | ~ m_state_v_a2ext(c_s,X,c_ob) ),
    inference(resolution,[],['2720','912']) ).

cnf('2745',plain,
    ~ m_state_v_a2ext(c_s,s7,c_ob),
    inference(resolution,[],['2744','2713']) ).

cnf('2746',plain,
    ~ node137(c_s,s7),
    inference(resolution,[],['2745','499']) ).

cnf('2747',plain,
    ~ node136(c_s,s7),
    inference(resolution,[],['2714','532']) ).

cnf('2748',plain,
    ~ node135(c_s,s7),
    inference(resolution,[],['2745','534']) ).

cnf('2749',plain,
    ~ node134(c_s,s7),
    inference(resolution,[],['2714','536']) ).

cnf('2750',plain,
    ( ~ node148(c_s,s2,X)
    | ~ m_state_v_A2Mag(c_s,X,c_on) ),
    inference(resolution,[],['433','419']) ).

cnf('2751',plain,
    ~ node147(c_s,s2),
    inference(resolution,[],['919','422']) ).

cnf('2752',plain,
    ~ node146(c_s,s2),
    inference(resolution,[],['919','424']) ).

cnf('2753',plain,
    ( ~ node149(c_s,s2,X)
    | node148(c_s,s2,X) ),
    inference(resolution,[then_simplify],['2751','393','2752']) ).

cnf('2754',plain,
    node149(c_s,s2,s3),
    inference(resolution,[],['391','98']) ).

cnf('2755',plain,
    node148(c_s,s2,s3),
    inference(resolution,[],['2753','2754']) ).

cnf('2756',plain,
    ~ m_state_v_A2Mag(c_s,s3,c_on),
    inference(resolution,[],['2750','2755']) ).

cnf('2757',plain,
    ( ~ node148(c_s,s3,X)
    | ~ m_state_v_A2Mag(c_s,X,c_on) ),
    inference(resolution,[],['2756','419']) ).

cnf('2758',plain,
    ~ node147(c_s,s3),
    inference(resolution,[],['1155','412']) ).

cnf('2759',plain,
    ~ node146(c_s,s3),
    inference(resolution,[],['1158','416']) ).

cnf('2760',plain,
    ( ~ node149(c_s,s3,X)
    | node148(c_s,s3,X) ),
    inference(resolution,[then_simplify],['2758','393','2759']) ).

cnf('2761',plain,
    node149(c_s,s3,s4),
    inference(resolution,[],['391','316']) ).

cnf('2762',plain,
    node148(c_s,s3,s4),
    inference(resolution,[],['2760','2761']) ).

cnf('2763',plain,
    ~ m_state_v_A2Mag(c_s,s4,c_on),
    inference(resolution,[],['2757','2762']) ).

cnf('2764',plain,
    ( ~ node148(c_s,s4,X)
    | ~ m_state_v_A2Mag(c_s,X,c_on) ),
    inference(resolution,[],['2763','419']) ).

cnf('2765',plain,
    ~ node147(c_s,s4),
    inference(resolution,[],['1218','412']) ).

cnf('2766',plain,
    ~ node146(c_s,s4),
    inference(resolution,[],['1221','416']) ).

cnf('2767',plain,
    ( ~ node149(c_s,s4,X)
    | node148(c_s,s4,X) ),
    inference(resolution,[then_simplify],['2765','393','2766']) ).

cnf('2768',plain,
    node149(c_s,s4,s5),
    inference(resolution,[],['391','626']) ).

cnf('2769',plain,
    node148(c_s,s4,s5),
    inference(resolution,[],['2767','2768']) ).

cnf('2770',plain,
    ~ m_state_v_A2Mag(c_s,s5,c_on),
    inference(resolution,[],['2764','2769']) ).

cnf('2771',plain,
    ( ~ node148(c_s,s5,X)
    | ~ m_state_v_A2Mag(c_s,X,c_on) ),
    inference(resolution,[],['2770','419']) ).

cnf('2772',plain,
    ~ node147(c_s,s5),
    inference(resolution,[],['1318','412']) ).

cnf('2773',plain,
    ~ node146(c_s,s5),
    inference(resolution,[],['1321','416']) ).

cnf('2774',plain,
    ( ~ node149(c_s,s5,X)
    | node148(c_s,s5,X) ),
    inference(resolution,[then_simplify],['2772','393','2773']) ).

cnf('2775',plain,
    node149(c_s,s5,s6),
    inference(resolution,[],['391','710']) ).

cnf('2776',plain,
    node148(c_s,s5,s6),
    inference(resolution,[],['2774','2775']) ).

cnf('2777',plain,
    ~ m_state_v_A2Mag(c_s,s6,c_on),
    inference(resolution,[],['2771','2776']) ).

cnf('2778',plain,
    ( ~ node148(c_s,s6,X)
    | ~ m_state_v_A2Mag(c_s,X,c_on) ),
    inference(resolution,[],['2777','419']) ).

cnf('2779',plain,
    ~ node147(c_s,s6),
    inference(resolution,[],['2720','412']) ).

cnf('2780',plain,
    ~ node146(c_s,s6),
    inference(resolution,[],['2704','416']) ).

cnf('2781',plain,
    ( ~ node149(c_s,s6,X)
    | node148(c_s,s6,X) ),
    inference(resolution,[then_simplify],['2779','393','2780']) ).

cnf('2782',plain,
    node149(c_s,s6,s7),
    inference(resolution,[],['391','856']) ).

cnf('2783',plain,
    node148(c_s,s6,s7),
    inference(resolution,[],['2781','2782']) ).

cnf('2784',plain,
    ~ m_state_v_A2Mag(c_s,s7,c_on),
    inference(resolution,[],['2778','2783']) ).

cnf('2785',plain,
    ( m_state_v_A2Mag(X,Y,c_on)
    | ~ node133(X,Y) ),
    inference(cnf_transformation,[],[m_Robot_73]) ).

cnf('2786',plain,
    ~ node133(c_s,s7),
    inference(resolution,[],['2784','2785']) ).

cnf('2787',plain,
    ( ~ node141(c_s,s7,X)
    | node140(c_s,s7,X) ),
    inference(resolution,[then_simplify],['2740','493','2742','2743','2746','2747','2748','2749','2786']) ).

cnf('2788',plain,
    node141(c_s,s7,s8),
    inference(resolution,[],['491','1011']) ).

cnf('2789',plain,
    node140(c_s,s7,s8),
    inference(resolution,[],['2787','2788']) ).

cnf('2790',plain,
    ( ~ node140(c_s,s7,X)
    | ~ m_state_v_A2M(c_s,X,c_extend) ),
    inference(resolution,[],['2730','514']) ).

cnf('2791',plain,
    ~ m_state_v_A2M(c_s,s8,c_extend),
    inference(resolution,[],['2789','2790']) ).

cnf('2792',plain,
    ~ node34(c_s,s8),
    inference(resolution,[],['2791','397']) ).

cnf('2793',plain,
    node36(c_s,s8,s9),
    inference(resolution,[],['403','1287']) ).

cnf('2794',plain,
    ( m_state_v_A2M(c_s,s8,c_retract)
    | node35(c_s,s8,s9)
    | node33(c_s,s8)
    | node34(c_s,s8) ),
    inference(resolution,[],['2793','394']) ).

cnf('2795',plain,
    ( ~ node140(c_s,s7,X)
    | ~ m_state_v_A2M(c_s,X,c_retract) ),
    inference(resolution,[],['2741','514']) ).

cnf('2796',plain,
    ~ m_state_v_A2M(c_s,s8,c_retract),
    inference(resolution,[],['2789','2795']) ).

cnf('2797',plain,
    ~ node33(c_s,s8),
    inference(resolution,[],['1362','519']) ).

cnf('2798',plain,
    node35(c_s,s8,s9),
    inference(resolution,[then_simplify],['2792','2794','2796','2797']) ).

cnf('2799',plain,
    ~ m_state_v_a2ext(c_s,s9,c_a2ip),
    inference(resolution,[],['2739','2798']) ).

cnf('2800',plain,
    ( m_state_v_a2ext(c_s,X,c_a2ip)
    | ~ node205(X) ),
    inference(cnf_transformation,[],[prpty66]) ).

cnf('2801',plain,
    ~ node205(s9),
    inference(resolution,[],['2799','2800']) ).

cnf('2802',plain,
    ~ node240(s9),
    inference(resolution,[then_simplify],['2693','2694','2801']) ).

cnf('2803',plain,
    ( ~ until241(X)
    | xuntil242(X)
    | node240(X) ),
    inference(cnf_transformation,[],[prpty144]) ).

cnf('2804',plain,
    ( $pr(loop)
    | ~ xuntil242(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty146]) ).

cnf('2805',plain,
    ( ~ xuntil242(s9)
    | $pr(loop) ),
    inference(resolution,[],['2804','1813']) ).

cnf('2806',plain,
    ~ xuntil242(s9),
    inference(resolution,[],['1811','2805']) ).

cnf('2807',plain,
    ~ until241(s9),
    inference(resolution,[then_simplify],['2802','2803','2806']) ).

cnf('2808',plain,
    ( ~ node245(X)
    | until241(X)
    | node203(X) ),
    inference(cnf_transformation,[],[prpty151]) ).

cnf('2809',plain,
    ( $pr(loop)
    | ~ always202(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty57]) ).

cnf('2810',plain,
    ( ~ always202(s9)
    | $pr(loop) ),
    inference(resolution,[],['2809','1813']) ).

cnf('2811',plain,
    ~ always202(s9),
    inference(resolution,[],['1811','2810']) ).

cnf('2812',plain,
    ( ~ node203(X)
    | always202(X) ),
    inference(cnf_transformation,[],[prpty60]) ).

cnf('2813',plain,
    ~ node203(s9),
    inference(resolution,[],['2811','2812']) ).

cnf('2814',plain,
    ~ node245(s9),
    inference(resolution,[then_simplify],['2807','2808','2813']) ).

cnf('2815',plain,
    ( ~ until246(X)
    | xuntil247(X)
    | node245(X) ),
    inference(cnf_transformation,[],[prpty152]) ).

cnf('2816',plain,
    ( $pr(loop)
    | ~ xuntil247(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty154]) ).

cnf('2817',plain,
    ( ~ xuntil247(s9)
    | $pr(loop) ),
    inference(resolution,[],['2816','1813']) ).

cnf('2818',plain,
    ~ xuntil247(s9),
    inference(resolution,[],['1811','2817']) ).

cnf('2819',plain,
    ~ until246(s9),
    inference(resolution,[then_simplify],['2814','2815','2818']) ).

cnf('2820',plain,
    ( ~ node250(X)
    | until246(X)
    | node201(X) ),
    inference(cnf_transformation,[],[prpty159]) ).

cnf('2821',plain,
    ( ~ node120(c_s,s6,X)
    | m_state_v_PM(c_s,X,c_idle) ),
    inference(resolution,[],['1752','1644']) ).

cnf('2822',plain,
    ( ~ node120(c_s,s5,X)
    | ~ m_state_v_PM(c_s,X,c_down) ),
    inference(resolution,[],['1712','1516']) ).

cnf('2823',plain,
    ~ m_state_v_PM(c_s,s6,c_down),
    inference(resolution,[],['1751','2822']) ).

cnf('2824',plain,
    ~ node119(c_s,s6),
    inference(resolution,[],['2823','1502']) ).

cnf('2825',plain,
    node52(c_s,s5,s6),
    inference(resolution,[],['1521','710']) ).

cnf('2826',plain,
    ( node51(c_s,s5,s6)
    | node49(c_s,s5)
    | node50(c_s,s5) ),
    inference(resolution,[],['2825','1523']) ).

cnf('2827',plain,
    ~ node49(c_s,s5),
    inference(resolution,[],['1728','1526']) ).

cnf('2828',plain,
    ~ node50(c_s,s5),
    inference(resolution,[],['1738','1524']) ).

cnf('2829',plain,
    node51(c_s,s5,s6),
    inference(simplify,[then_simplify],['2826','2827','2828']) ).

cnf('2830',plain,
    ~ m_state_v_topPosP(c_s,s5),
    inference(resolution,[then_simplify],['1726','1529','1727']) ).

cnf('2831',plain,
    ~ m_state_v_topPosP(c_s,s6),
    inference(resolution,[then_simplify],['2829','1529','2830']) ).

cnf('2832',plain,
    ~ node118(c_s,s6),
    inference(resolution,[],['2831','1504']) ).

cnf('2833',plain,
    ~ node117(c_s,s6),
    inference(resolution,[],['2831','1507']) ).

cnf('2834',plain,
    ~ node116(c_s,s6),
    inference(resolution,[],['1765','1509']) ).

cnf('2835',plain,
    ~ node160(c_s,s5),
    inference(resolution,[],['1233','756']) ).

cnf('2836',plain,
    ~ node161(c_s,s5),
    inference(resolution,[],['827','1741']) ).

cnf('2837',plain,
    ( ~ node163(c_s,s5,X)
    | node162(c_s,s5,X) ),
    inference(resolution,[then_simplify],['2835','758','2836']) ).

cnf('2838',plain,
    node163(c_s,s5,s6),
    inference(resolution,[],['763','710']) ).

cnf('2839',plain,
    node162(c_s,s5,s6),
    inference(resolution,[],['2837','2838']) ).

cnf('2840',plain,
    m_state_v_pl(c_s,s5),
    inference(resolution,[then_simplify],['1745','766','1715']) ).

cnf('2841',plain,
    m_state_v_pl(c_s,s6),
    inference(resolution,[then_simplify],['2839','766','2840']) ).

cnf('2842',plain,
    ~ node115(c_s,s6),
    inference(resolution,[],['2841','1511']) ).

cnf('2843',plain,
    ~ node114(c_s,s6),
    inference(resolution,[],['2841','1492']) ).

cnf('2844',plain,
    ( ~ node121(c_s,s6,X)
    | node120(c_s,s6,X) ),
    inference(resolution,[then_simplify],['2824','1494','2832','2833','2834','2842','2843']) ).

cnf('2845',plain,
    node121(c_s,s6,s7),
    inference(resolution,[],['1498','856']) ).

cnf('2846',plain,
    node120(c_s,s6,s7),
    inference(resolution,[],['2844','2845']) ).

cnf('2847',plain,
    m_state_v_PM(c_s,s7,c_idle),
    inference(resolution,[],['2821','2846']) ).

cnf('2848',plain,
    ~ m_state_v_PM(c_s,s7,c_up),
    inference(resolution,[],['2847','246']) ).

cnf('2849',plain,
    ~ node53(c_s,s7),
    inference(resolution,[],['2848','249']) ).

cnf('2850',plain,
    ~ node54(c_s,s7),
    inference(resolution,[],['1770','252']) ).

cnf('2851',plain,
    node56(c_s,s7,s8),
    inference(resolution,[],['256','1011']) ).

cnf('2852',plain,
    ( node55(c_s,s7,s8)
    | node53(c_s,s7)
    | node54(c_s,s7) ),
    inference(resolution,[],['2851','251']) ).

cnf('2853',plain,
    ( node55(c_s,s7,s8)
    | node53(c_s,s7) ),
    inference(resolution,[],['2850','2852']) ).

cnf('2854',plain,
    node55(c_s,s7,s8),
    inference(resolution,[],['2849','2853']) ).

cnf('2855',plain,
    ~ m_state_v_midPosP(c_s,s7),
    inference(resolution,[then_simplify],['1768','259','1769']) ).

cnf('2856',plain,
    ~ m_state_v_midPosP(c_s,s8),
    inference(resolution,[then_simplify],['2854','259','2855']) ).

cnf('2857',plain,
    ~ node50(c_s,s8),
    inference(resolution,[],['2856','1524']) ).

cnf('2858',plain,
    ~ node50(c_s,s7),
    inference(resolution,[],['1770','1524']) ).

cnf('2859',plain,
    ~ node50(c_s,s6),
    inference(resolution,[],['1765','1524']) ).

cnf('2860',plain,
    node52(c_s,s6,s7),
    inference(resolution,[],['1521','856']) ).

cnf('2861',plain,
    ( node51(c_s,s6,s7)
    | node49(c_s,s6)
    | node50(c_s,s6) ),
    inference(resolution,[],['2860','1523']) ).

cnf('2862',plain,
    ~ node49(c_s,s6),
    inference(resolution,[],['2831','1526']) ).

cnf('2863',plain,
    ( node51(c_s,s6,s7)
    | node50(c_s,s6) ),
    inference(simplify,[],['2861','2862']) ).

cnf('2864',plain,
    node51(c_s,s6,s7),
    inference(resolution,[],['2859','2863']) ).

cnf('2865',plain,
    ~ m_state_v_topPosP(c_s,s6),
    inference(resolution,[then_simplify],['2829','1529','2830']) ).

cnf('2866',plain,
    ~ m_state_v_topPosP(c_s,s7),
    inference(resolution,[then_simplify],['2864','1529','2865']) ).

cnf('2867',plain,
    ~ node49(c_s,s7),
    inference(resolution,[],['2866','1526']) ).

cnf('2868',plain,
    node52(c_s,s7,s8),
    inference(resolution,[],['1521','1011']) ).

cnf('2869',plain,
    ( node51(c_s,s7,s8)
    | node49(c_s,s7)
    | node50(c_s,s7) ),
    inference(resolution,[],['2868','1523']) ).

cnf('2870',plain,
    ( node51(c_s,s7,s8)
    | node50(c_s,s7) ),
    inference(resolution,[],['2867','2869']) ).

cnf('2871',plain,
    node51(c_s,s7,s8),
    inference(resolution,[],['2858','2870']) ).

cnf('2872',plain,
    ~ m_state_v_topPosP(c_s,s7),
    inference(resolution,[then_simplify],['2864','1529','2865']) ).

cnf('2873',plain,
    ~ m_state_v_topPosP(c_s,s8),
    inference(resolution,[then_simplify],['2871','1529','2872']) ).

cnf('2874',plain,
    ~ node49(c_s,s8),
    inference(resolution,[],['2873','1526']) ).

cnf('2875',plain,
    node52(c_s,s8,s9),
    inference(resolution,[],['1521','1287']) ).

cnf('2876',plain,
    ( node51(c_s,s8,s9)
    | node49(c_s,s8)
    | node50(c_s,s8) ),
    inference(resolution,[],['2875','1523']) ).

cnf('2877',plain,
    ( node51(c_s,s8,s9)
    | node50(c_s,s8) ),
    inference(resolution,[],['2874','2876']) ).

cnf('2878',plain,
    node51(c_s,s8,s9),
    inference(resolution,[],['2857','2877']) ).

cnf('2879',plain,
    ~ m_state_v_topPosP(c_s,s8),
    inference(resolution,[then_simplify],['2871','1529','2872']) ).

cnf('2880',plain,
    ~ m_state_v_topPosP(c_s,s9),
    inference(resolution,[then_simplify],['2878','1529','2879']) ).

cnf('2881',plain,
    ( m_state_v_topPosP(c_s,X)
    | ~ node201(X) ),
    inference(cnf_transformation,[],[prpty52]) ).

cnf('2882',plain,
    ~ node201(s9),
    inference(resolution,[],['2880','2881']) ).

cnf('2883',plain,
    ~ node250(s9),
    inference(resolution,[then_simplify],['2819','2820','2882']) ).

cnf('2884',plain,
    ( ~ until251(X)
    | xuntil252(X)
    | node250(X) ),
    inference(cnf_transformation,[],[prpty160]) ).

cnf('2885',plain,
    ( $pr(loop)
    | ~ xuntil252(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty162]) ).

cnf('2886',plain,
    ( ~ xuntil252(s9)
    | $pr(loop) ),
    inference(resolution,[],['2885','1813']) ).

cnf('2887',plain,
    ~ xuntil252(s9),
    inference(resolution,[],['1811','2886']) ).

cnf('2888',plain,
    ~ until251(s9),
    inference(resolution,[then_simplify],['2883','2884','2887']) ).

cnf('2889',plain,
    ( ~ node255(X)
    | until251(X)
    | node199(X) ),
    inference(cnf_transformation,[],[prpty167]) ).

cnf('2890',plain,
    ( ~ node120(c_s,s7,X)
    | m_state_v_PM(c_s,X,c_idle) ),
    inference(resolution,[],['2847','1644']) ).

cnf('2891',plain,
    ( ~ node120(c_s,s6,X)
    | ~ m_state_v_PM(c_s,X,c_down) ),
    inference(resolution,[],['2823','1516']) ).

cnf('2892',plain,
    ~ m_state_v_PM(c_s,s7,c_down),
    inference(resolution,[],['2846','2891']) ).

cnf('2893',plain,
    ~ node119(c_s,s7),
    inference(resolution,[],['2892','1502']) ).

cnf('2894',plain,
    ~ node118(c_s,s7),
    inference(resolution,[],['2866','1504']) ).

cnf('2895',plain,
    ~ node117(c_s,s7),
    inference(resolution,[],['2866','1507']) ).

cnf('2896',plain,
    ~ node116(c_s,s7),
    inference(resolution,[],['1770','1509']) ).

cnf('2897',plain,
    ~ node115(c_s,s7),
    inference(resolution,[],['1770','1535']) ).

cnf('2898',plain,
    ~ node160(c_s,s6),
    inference(resolution,[],['1331','756']) ).

cnf('2899',plain,
    ~ node161(c_s,s6),
    inference(resolution,[],['982','1741']) ).

cnf('2900',plain,
    ( ~ node163(c_s,s6,X)
    | node162(c_s,s6,X) ),
    inference(resolution,[then_simplify],['2898','758','2899']) ).

cnf('2901',plain,
    node163(c_s,s6,s7),
    inference(resolution,[],['763','856']) ).

cnf('2902',plain,
    node162(c_s,s6,s7),
    inference(resolution,[],['2900','2901']) ).

cnf('2903',plain,
    m_state_v_pl(c_s,s6),
    inference(resolution,[then_simplify],['2839','766','2840']) ).

cnf('2904',plain,
    m_state_v_pl(c_s,s7),
    inference(resolution,[then_simplify],['2902','766','2903']) ).

cnf('2905',plain,
    ~ node114(c_s,s7),
    inference(resolution,[],['2904','1492']) ).

cnf('2906',plain,
    ( ~ node121(c_s,s7,X)
    | node120(c_s,s7,X) ),
    inference(resolution,[then_simplify],['2893','1494','2894','2895','2896','2897','2905']) ).

cnf('2907',plain,
    node121(c_s,s7,s8),
    inference(resolution,[],['1498','1011']) ).

cnf('2908',plain,
    node120(c_s,s7,s8),
    inference(resolution,[],['2906','2907']) ).

cnf('2909',plain,
    m_state_v_PM(c_s,s8,c_idle),
    inference(resolution,[],['2890','2908']) ).

cnf('2910',plain,
    ~ m_state_v_PM(c_s,s8,c_up),
    inference(resolution,[],['2909','246']) ).

cnf('2911',plain,
    ~ node53(c_s,s8),
    inference(resolution,[],['2910','249']) ).

cnf('2912',plain,
    ~ node54(c_s,s8),
    inference(resolution,[],['2856','252']) ).

cnf('2913',plain,
    node56(c_s,s8,s9),
    inference(resolution,[],['256','1287']) ).

cnf('2914',plain,
    ( node55(c_s,s8,s9)
    | node53(c_s,s8)
    | node54(c_s,s8) ),
    inference(resolution,[],['2913','251']) ).

cnf('2915',plain,
    ( node55(c_s,s8,s9)
    | node53(c_s,s8) ),
    inference(resolution,[],['2912','2914']) ).

cnf('2916',plain,
    node55(c_s,s8,s9),
    inference(resolution,[],['2911','2915']) ).

cnf('2917',plain,
    ~ m_state_v_midPosP(c_s,s8),
    inference(resolution,[then_simplify],['2854','259','2855']) ).

cnf('2918',plain,
    ~ m_state_v_midPosP(c_s,s9),
    inference(resolution,[then_simplify],['2916','259','2917']) ).

cnf('2919',plain,
    ( m_state_v_midPosP(c_s,X)
    | ~ node199(X) ),
    inference(cnf_transformation,[],[prpty46]) ).

cnf('2920',plain,
    ~ node199(s9),
    inference(resolution,[],['2918','2919']) ).

cnf('2921',plain,
    ~ node255(s9),
    inference(resolution,[then_simplify],['2888','2889','2920']) ).

cnf('2922',plain,
    ( ~ until256(X)
    | xuntil257(X)
    | node255(X) ),
    inference(cnf_transformation,[],[prpty168]) ).

cnf('2923',plain,
    ( $pr(loop)
    | ~ xuntil257(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty170]) ).

cnf('2924',plain,
    ( ~ xuntil257(s9)
    | $pr(loop) ),
    inference(resolution,[],['2923','1813']) ).

cnf('2925',plain,
    ~ xuntil257(s9),
    inference(resolution,[],['1811','2924']) ).

cnf('2926',plain,
    ~ until256(s9),
    inference(resolution,[then_simplify],['2921','2922','2925']) ).

cnf('2927',plain,
    ( ~ node260(X)
    | until256(X)
    | node197(X) ),
    inference(cnf_transformation,[],[prpty175]) ).

cnf('2928',plain,
    ( m_state_v_angle(c_s,X,c_arm1topress)
    | ~ node197(X) ),
    inference(cnf_transformation,[],[prpty39]) ).

cnf('2929',plain,
    ~ node197(s9),
    inference(resolution,[],['1385','2928']) ).

cnf('2930',plain,
    ~ node260(s9),
    inference(resolution,[then_simplify],['2926','2927','2929']) ).

cnf('2931',plain,
    ( ~ until261(X)
    | xuntil262(X)
    | node260(X) ),
    inference(cnf_transformation,[],[prpty176]) ).

cnf('2932',plain,
    ( $pr(loop)
    | ~ xuntil262(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty178]) ).

cnf('2933',plain,
    ( ~ xuntil262(s9)
    | $pr(loop) ),
    inference(resolution,[],['2932','1813']) ).

cnf('2934',plain,
    ~ xuntil262(s9),
    inference(resolution,[],['1811','2933']) ).

cnf('2935',plain,
    ~ until261(s9),
    inference(resolution,[then_simplify],['2930','2931','2934']) ).

cnf('2936',plain,
    ( ~ node265(X)
    | until261(X)
    | node195(X) ),
    inference(cnf_transformation,[],[prpty183]) ).

cnf('2937',plain,
    ( m_state_v_angle(c_s,X,c_arm1totable)
    | ~ node195(X) ),
    inference(cnf_transformation,[],[prpty32]) ).

cnf('2938',plain,
    ~ node195(s9),
    inference(resolution,[],['1411','2937']) ).

cnf('2939',plain,
    ~ node265(s9),
    inference(resolution,[then_simplify],['2935','2936','2938']) ).

cnf('2940',plain,
    ( ~ until266(X)
    | xuntil267(X)
    | node265(X) ),
    inference(cnf_transformation,[],[prpty184]) ).

cnf('2941',plain,
    ( $pr(loop)
    | ~ xuntil267(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty186]) ).

cnf('2942',plain,
    ( ~ xuntil267(s9)
    | $pr(loop) ),
    inference(resolution,[],['2941','1813']) ).

cnf('2943',plain,
    ~ xuntil267(s9),
    inference(resolution,[],['1811','2942']) ).

cnf('2944',plain,
    ~ until266(s9),
    inference(resolution,[then_simplify],['2939','2940','2943']) ).

cnf('2945',plain,
    ( ~ node270(X)
    | until266(X)
    | node193(X) ),
    inference(cnf_transformation,[],[prpty191]) ).

cnf('2946',plain,
    ~ m_state_v_TEM(c_s,s9,c_idle),
    inference(resolution,[],['1289','45']) ).

cnf('2947',plain,
    ( m_state_v_TEM(c_s,X,c_idle)
    | ~ node193(X) ),
    inference(cnf_transformation,[],[prpty26]) ).

cnf('2948',plain,
    ~ node193(s9),
    inference(resolution,[],['2946','2947']) ).

cnf('2949',plain,
    ~ node270(s9),
    inference(resolution,[then_simplify],['2944','2945','2948']) ).

cnf('2950',plain,
    ( ~ until271(X)
    | xuntil272(X)
    | node270(X) ),
    inference(cnf_transformation,[],[prpty192]) ).

cnf('2951',plain,
    ( $pr(loop)
    | ~ xuntil272(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty194]) ).

cnf('2952',plain,
    ( ~ xuntil272(s9)
    | $pr(loop) ),
    inference(resolution,[],['2951','1813']) ).

cnf('2953',plain,
    ~ xuntil272(s9),
    inference(resolution,[],['1811','2952']) ).

cnf('2954',plain,
    ~ until271(s9),
    inference(resolution,[then_simplify],['2949','2950','2953']) ).

cnf('2955',plain,
    ( ~ node275(X)
    | until271(X)
    | node191(X) ),
    inference(cnf_transformation,[],[prpty199]) ).

cnf('2956',plain,
    node26(c_s,s8,s9),
    inference(resolution,[],['87','1287']) ).

cnf('2957',plain,
    ( m_state_v_TRM(c_s,s8,c_counterclockwise)
    | node25(c_s,s8,s9)
    | m_state_v_TRM(c_s,s8,c_clockwise) ),
    inference(resolution,[],['2956','616']) ).

cnf('2958',plain,
    node25(c_s,s8,s9),
    inference(resolution,[then_simplify],['1042','2957','1045']) ).

cnf('2959',plain,
    ~ m_state_v_minRot(c_s,s8),
    inference(resolution,[then_simplify],['1455','620','1456']) ).

cnf('2960',plain,
    ~ m_state_v_minRot(c_s,s9),
    inference(resolution,[then_simplify],['2958','620','2959']) ).

cnf('2961',plain,
    ( m_state_v_minRot(c_s,X)
    | ~ node191(X) ),
    inference(cnf_transformation,[],[prpty17]) ).

cnf('2962',plain,
    ~ node191(s9),
    inference(resolution,[],['2960','2961']) ).

cnf('2963',plain,
    ~ node275(s9),
    inference(resolution,[then_simplify],['2954','2955','2962']) ).

cnf('2964',plain,
    ( ~ until276(X)
    | xuntil277(X)
    | node275(X) ),
    inference(cnf_transformation,[],[prpty200]) ).

cnf('2965',plain,
    ( $pr(loop)
    | ~ xuntil277(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty202]) ).

cnf('2966',plain,
    ( ~ xuntil277(s9)
    | $pr(loop) ),
    inference(resolution,[],['2965','1813']) ).

cnf('2967',plain,
    ~ xuntil277(s9),
    inference(resolution,[],['1811','2966']) ).

cnf('2968',plain,
    ~ until276(s9),
    inference(resolution,[then_simplify],['2963','2964','2967']) ).

cnf('2969',plain,
    ( ~ node280(X)
    | until276(X)
    | node189(X) ),
    inference(cnf_transformation,[],[prpty207]) ).

cnf('2970',plain,
    ( m_state_v_deliv(c_s,X)
    | ~ node189(X) ),
    inference(cnf_transformation,[],[prpty11]) ).

cnf('2971',plain,
    ~ node189(s9),
    inference(resolution,[],['1481','2970']) ).

cnf('2972',plain,
    ~ node280(s9),
    inference(resolution,[then_simplify],['2968','2969','2971']) ).

cnf('2973',plain,
    ( ~ until281(X)
    | xuntil282(X)
    | node280(X) ),
    inference(cnf_transformation,[],[prpty208]) ).

cnf('2974',plain,
    ( $pr(loop)
    | ~ xuntil282(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty210]) ).

cnf('2975',plain,
    ( ~ xuntil282(s9)
    | $pr(loop) ),
    inference(resolution,[],['2974','1813']) ).

cnf('2976',plain,
    ~ xuntil282(s9),
    inference(resolution,[],['1811','2975']) ).

cnf('2977',plain,
    ~ until281(s9),
    inference(resolution,[then_simplify],['2972','2973','2976']) ).

cnf('2978',plain,
    ( ~ node285(X)
    | until281(X)
    | node187(X) ),
    inference(cnf_transformation,[],[prpty215]) ).

cnf('2979',plain,
    ( $pr(loop)
    | ~ always186(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty3]) ).

cnf('2980',plain,
    ( ~ always186(s9)
    | $pr(loop) ),
    inference(resolution,[],['1813','2979']) ).

cnf('2981',plain,
    ~ always186(s9),
    inference(resolution,[],['1811','2980']) ).

cnf('2982',plain,
    ( ~ node187(X)
    | always186(X) ),
    inference(cnf_transformation,[],[prpty6]) ).

cnf('2983',plain,
    ~ node187(s9),
    inference(resolution,[],['2981','2982']) ).

cnf('2984',plain,
    ~ node285(s9),
    inference(resolution,[then_simplify],['2977','2978','2983']) ).

cnf('2985',plain,
    ( ~ until286(X)
    | xuntil287(X)
    | node285(X) ),
    inference(cnf_transformation,[],[prpty216]) ).

cnf('2986',plain,
    ( $pr(loop)
    | ~ xuntil287(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty218]) ).

cnf('2987',plain,
    ( ~ xuntil287(s9)
    | $pr(loop) ),
    inference(resolution,[],['2986','1813']) ).

cnf('2988',plain,
    ~ xuntil287(s9),
    inference(resolution,[],['1811','2987']) ).

cnf('2989',plain,
    ~ until286(s9),
    inference(resolution,[then_simplify],['2984','2985','2988']) ).

cnf('2990',plain,
    ( ~ succ(X,Y)
    | ~ xuntil287(X)
    | until286(Y) ),
    inference(cnf_transformation,[],[prpty217]) ).

cnf('2991',plain,
    ( ~ xuntil287(s8)
    | until286(s9) ),
    inference(resolution,[],['2990','1286']) ).

cnf('2992',plain,
    ~ xuntil287(s8),
    inference(resolution,[],['2989','2991']) ).

cnf('2993',plain,
    ( ~ succ(X,Y)
    | ~ xuntil282(X)
    | until281(Y) ),
    inference(cnf_transformation,[],[prpty209]) ).

cnf('2994',plain,
    ( ~ xuntil282(s8)
    | until281(s9) ),
    inference(resolution,[],['2993','1286']) ).

cnf('2995',plain,
    ~ xuntil282(s8),
    inference(resolution,[],['2977','2994']) ).

cnf('2996',plain,
    ( ~ succ(X,Y)
    | ~ xuntil277(X)
    | until276(Y) ),
    inference(cnf_transformation,[],[prpty201]) ).

cnf('2997',plain,
    ( ~ xuntil277(s8)
    | until276(s9) ),
    inference(resolution,[],['2996','1286']) ).

cnf('2998',plain,
    ~ xuntil277(s8),
    inference(resolution,[],['2968','2997']) ).

cnf('2999',plain,
    ( ~ succ(X,Y)
    | ~ xuntil272(X)
    | until271(Y) ),
    inference(cnf_transformation,[],[prpty193]) ).

cnf('3000',plain,
    ( ~ xuntil272(s8)
    | until271(s9) ),
    inference(resolution,[],['2999','1286']) ).

cnf('3001',plain,
    ~ xuntil272(s8),
    inference(resolution,[],['2954','3000']) ).

cnf('3002',plain,
    ( ~ succ(X,Y)
    | ~ xuntil267(X)
    | until266(Y) ),
    inference(cnf_transformation,[],[prpty185]) ).

cnf('3003',plain,
    ( ~ xuntil267(s8)
    | until266(s9) ),
    inference(resolution,[],['3002','1286']) ).

cnf('3004',plain,
    ~ xuntil267(s8),
    inference(resolution,[],['2944','3003']) ).

cnf('3005',plain,
    ( ~ succ(X,Y)
    | ~ xuntil262(X)
    | until261(Y) ),
    inference(cnf_transformation,[],[prpty177]) ).

cnf('3006',plain,
    ( ~ xuntil262(s8)
    | until261(s9) ),
    inference(resolution,[],['3005','1286']) ).

cnf('3007',plain,
    ~ xuntil262(s8),
    inference(resolution,[],['2935','3006']) ).

cnf('3008',plain,
    ( ~ succ(X,Y)
    | ~ xuntil257(X)
    | until256(Y) ),
    inference(cnf_transformation,[],[prpty169]) ).

cnf('3009',plain,
    ( ~ xuntil257(s8)
    | until256(s9) ),
    inference(resolution,[],['3008','1286']) ).

cnf('3010',plain,
    ~ xuntil257(s8),
    inference(resolution,[],['2926','3009']) ).

cnf('3011',plain,
    ( ~ succ(X,Y)
    | ~ xuntil252(X)
    | until251(Y) ),
    inference(cnf_transformation,[],[prpty161]) ).

cnf('3012',plain,
    ( ~ xuntil252(s8)
    | until251(s9) ),
    inference(resolution,[],['3011','1286']) ).

cnf('3013',plain,
    ~ xuntil252(s8),
    inference(resolution,[],['2888','3012']) ).

cnf('3014',plain,
    ( ~ succ(X,Y)
    | ~ xuntil247(X)
    | until246(Y) ),
    inference(cnf_transformation,[],[prpty153]) ).

cnf('3015',plain,
    ( ~ xuntil247(s8)
    | until246(s9) ),
    inference(resolution,[],['3014','1286']) ).

cnf('3016',plain,
    ~ xuntil247(s8),
    inference(resolution,[],['2819','3015']) ).

cnf('3017',plain,
    ( ~ succ(X,Y)
    | ~ xuntil242(X)
    | until241(Y) ),
    inference(cnf_transformation,[],[prpty145]) ).

cnf('3018',plain,
    ( ~ xuntil242(s8)
    | until241(s9) ),
    inference(resolution,[],['3017','1286']) ).

cnf('3019',plain,
    ~ xuntil242(s8),
    inference(resolution,[],['2807','3018']) ).

cnf('3020',plain,
    ( ~ succ(X,Y)
    | ~ xuntil237(X)
    | until236(Y) ),
    inference(cnf_transformation,[],[prpty137]) ).

cnf('3021',plain,
    ( ~ xuntil237(s8)
    | until236(s9) ),
    inference(resolution,[],['3020','1286']) ).

cnf('3022',plain,
    ~ xuntil237(s8),
    inference(resolution,[],['2693','3021']) ).

cnf('3023',plain,
    ( ~ succ(X,Y)
    | ~ xuntil232(X)
    | until231(Y) ),
    inference(cnf_transformation,[],[prpty129]) ).

cnf('3024',plain,
    ( ~ xuntil232(s8)
    | until231(s9) ),
    inference(resolution,[],['3023','1286']) ).

cnf('3025',plain,
    ~ xuntil232(s8),
    inference(resolution,[],['2684','3024']) ).

cnf('3026',plain,
    ( ~ succ(X,Y)
    | ~ xuntil227(X)
    | until226(Y) ),
    inference(cnf_transformation,[],[prpty121]) ).

cnf('3027',plain,
    ( ~ xuntil227(s8)
    | until226(s9) ),
    inference(resolution,[],['3026','1286']) ).

cnf('3028',plain,
    ~ xuntil227(s8),
    inference(resolution,[],['2672','3027']) ).

cnf('3029',plain,
    ( ~ succ(X,Y)
    | ~ xuntil222(X)
    | until221(Y) ),
    inference(cnf_transformation,[],[prpty113]) ).

cnf('3030',plain,
    ( ~ xuntil222(s8)
    | until221(s9) ),
    inference(resolution,[],['3029','1286']) ).

cnf('3031',plain,
    ~ xuntil222(s8),
    inference(resolution,[],['2641','3030']) ).

cnf('3032',plain,
    ( ~ succ(X,Y)
    | ~ xuntil217(X)
    | until216(Y) ),
    inference(cnf_transformation,[],[prpty105]) ).

cnf('3033',plain,
    ( ~ xuntil217(s8)
    | until216(s9) ),
    inference(resolution,[],['3032','1286']) ).

cnf('3034',plain,
    ~ xuntil217(s8),
    inference(resolution,[],['2543','3033']) ).

cnf('3035',plain,
    ~ node215(s8),
    inference(resolution,[],['2344','2541']) ).

cnf('3036',plain,
    ~ until216(s8),
    inference(resolution,[then_simplify],['3034','1816','3035']) ).

cnf('3037',plain,
    ~ m_state_v_pbe(c_s,s8),
    inference(resolution,[then_simplify],['2623','2494','2631']) ).

cnf('3038',plain,
    ~ node213(s8),
    inference(resolution,[],['3037','2634']) ).

cnf('3039',plain,
    ~ node220(s8),
    inference(resolution,[then_simplify],['3036','2544','3038']) ).

cnf('3040',plain,
    ~ until221(s8),
    inference(resolution,[then_simplify],['3031','2637','3039']) ).

cnf('3041',plain,
    ~ node211(s8),
    inference(resolution,[],['2611','2665']) ).

cnf('3042',plain,
    ~ node225(s8),
    inference(resolution,[then_simplify],['3040','2642','3041']) ).

cnf('3043',plain,
    ~ until226(s8),
    inference(resolution,[then_simplify],['3028','2668','3042']) ).

cnf('3044',plain,
    ( ~ trans(X,Y)
    | ~ always208(X)
    | always208(Y) ),
    inference(cnf_transformation,[],[prpty76]) ).

cnf('3045',plain,
    ( ~ always208(s8)
    | always208(s9) ),
    inference(resolution,[],['1287','3044']) ).

cnf('3046',plain,
    ~ always208(s8),
    inference(resolution,[],['2676','3045']) ).

cnf('3047',plain,
    ~ node209(s8),
    inference(resolution,[],['3046','2677']) ).

cnf('3048',plain,
    ~ node230(s8),
    inference(resolution,[then_simplify],['3043','2673','3047']) ).

cnf('3049',plain,
    ~ until231(s8),
    inference(resolution,[then_simplify],['3025','2680','3048']) ).

cnf('3050',plain,
    ( ~ m_state_v_DBM(c_s,X,c_run)
    | m_state_v_crit(c_s,X)
    | ~ always206(X) ),
    inference(cnf_transformation,[],[prpty68]) ).

cnf('3051',plain,
    ~ node110(c_s,s7),
    inference(resolution,[],['2589','2390']) ).

cnf('3052',plain,
    ~ node110(c_s,s6),
    inference(resolution,[],['2567','2390']) ).

cnf('3053',plain,
    ~ node110(c_s,s5),
    inference(resolution,[],['2487','2390']) ).

cnf('3054',plain,
    ~ node110(c_s,s4),
    inference(resolution,[],['2481','2390']) ).

cnf('3055',plain,
    ( m_state_v_DBM(X,Y,c_run)
    | ~ node110(X,Y) ),
    inference(cnf_transformation,[],[m_DepositBelt_13]) ).

cnf('3056',plain,
    ~ node110(c_s,s3),
    inference(resolution,[],['2439','3055']) ).

cnf('3057',plain,
    ( ~ node113(X,Y,Z)
    | ~ m_state_v_DBM(X,Y,c_idle)
    | m_state_v_DBM(X,Z,c_run)
    | node110(X,Y)
    | m_state_v_pbe(X,Y) ),
    inference(cnf_transformation,[],[m_DepositBelt_21]) ).

cnf('3058',plain,
    ( m_state_v_DBM(X,Y,c_idle)
    | m_state_v_DBM(X,Y,c_run) ),
    inference(cnf_transformation,[],[m_state_23]) ).

cnf('3059',plain,
    m_state_v_DBM(c_s,s3,c_idle),
    inference(resolution,[],['2439','3058']) ).

cnf('3060',plain,
    ( ~ node113(c_s,s3,X)
    | m_state_v_DBM(c_s,X,c_run) ),
    inference(resolution,[then_simplify],['3056','3057','3059','2508']) ).

cnf('3061',plain,
    node113(c_s,s3,s4),
    inference(resolution,[],['2358','316']) ).

cnf('3062',plain,
    m_state_v_DBM(c_s,s4,c_run),
    inference(resolution,[],['3060','3061']) ).

cnf('3063',plain,
    ~ m_state_v_DBM(c_s,s4,c_idle),
    inference(resolution,[],['3062','2400']) ).

cnf('3064',plain,
    ( m_state_v_DBM(X,Y,c_idle)
    | ~ node111(X,Y) ),
    inference(cnf_transformation,[],[m_DepositBelt_16]) ).

cnf('3065',plain,
    ~ node111(c_s,s4),
    inference(resolution,[],['3063','3064']) ).

cnf('3066',plain,
    ( ~ node113(c_s,s4,X)
    | node112(c_s,s4,X) ),
    inference(resolution,[then_simplify],['3054','2360','3065']) ).

cnf('3067',plain,
    node113(c_s,s4,s5),
    inference(resolution,[],['2358','626']) ).

cnf('3068',plain,
    node112(c_s,s4,s5),
    inference(resolution,[],['3066','3067']) ).

cnf('3069',plain,
    ( ~ node112(c_s,s4,X)
    | ~ m_state_v_DBM(c_s,X,c_idle) ),
    inference(resolution,[],['3063','2393']) ).

cnf('3070',plain,
    ~ m_state_v_DBM(c_s,s5,c_idle),
    inference(resolution,[],['3068','3069']) ).

cnf('3071',plain,
    ~ node111(c_s,s5),
    inference(resolution,[],['3070','3064']) ).

cnf('3072',plain,
    ( ~ node113(c_s,s5,X)
    | node112(c_s,s5,X) ),
    inference(resolution,[then_simplify],['3053','2360','3071']) ).

cnf('3073',plain,
    node113(c_s,s5,s6),
    inference(resolution,[],['2358','710']) ).

cnf('3074',plain,
    node112(c_s,s5,s6),
    inference(resolution,[],['3072','3073']) ).

cnf('3075',plain,
    ( ~ node112(c_s,s5,X)
    | ~ m_state_v_DBM(c_s,X,c_idle) ),
    inference(resolution,[],['3070','2393']) ).

cnf('3076',plain,
    ~ m_state_v_DBM(c_s,s6,c_idle),
    inference(resolution,[],['3074','3075']) ).

cnf('3077',plain,
    ~ node111(c_s,s6),
    inference(resolution,[],['3076','3064']) ).

cnf('3078',plain,
    ( ~ node113(c_s,s6,X)
    | node112(c_s,s6,X) ),
    inference(resolution,[then_simplify],['3052','2360','3077']) ).

cnf('3079',plain,
    node113(c_s,s6,s7),
    inference(resolution,[],['2358','856']) ).

cnf('3080',plain,
    node112(c_s,s6,s7),
    inference(resolution,[],['3078','3079']) ).

cnf('3081',plain,
    ( ~ node112(c_s,s6,X)
    | ~ m_state_v_DBM(c_s,X,c_idle) ),
    inference(resolution,[],['3076','2393']) ).

cnf('3082',plain,
    ~ m_state_v_DBM(c_s,s7,c_idle),
    inference(resolution,[],['3080','3081']) ).

cnf('3083',plain,
    ~ node111(c_s,s7),
    inference(resolution,[],['3082','3064']) ).

cnf('3084',plain,
    ( ~ node113(c_s,s7,X)
    | node112(c_s,s7,X) ),
    inference(resolution,[then_simplify],['3051','2360','3083']) ).

cnf('3085',plain,
    node113(c_s,s7,s8),
    inference(resolution,[],['2358','1011']) ).

cnf('3086',plain,
    node112(c_s,s7,s8),
    inference(resolution,[],['3084','3085']) ).

cnf('3087',plain,
    ( ~ node112(X,Y,Z)
    | ~ m_state_v_DBM(X,Y,U)
    | m_state_v_DBM(X,Z,U) ),
    inference(cnf_transformation,[],[m_DepositBelt_18]) ).

cnf('3088',plain,
    ( ~ node112(c_s,s4,X)
    | m_state_v_DBM(c_s,X,c_run) ),
    inference(resolution,[],['3062','3087']) ).

cnf('3089',plain,
    m_state_v_DBM(c_s,s5,c_run),
    inference(resolution,[],['3068','3088']) ).

cnf('3090',plain,
    ( ~ node112(c_s,s5,X)
    | m_state_v_DBM(c_s,X,c_run) ),
    inference(resolution,[],['3089','3087']) ).

cnf('3091',plain,
    m_state_v_DBM(c_s,s6,c_run),
    inference(resolution,[],['3074','3090']) ).

cnf('3092',plain,
    ( ~ node112(c_s,s6,X)
    | m_state_v_DBM(c_s,X,c_run) ),
    inference(resolution,[],['3091','3087']) ).

cnf('3093',plain,
    m_state_v_DBM(c_s,s7,c_run),
    inference(resolution,[],['3080','3092']) ).

cnf('3094',plain,
    ( ~ node112(c_s,s7,X)
    | m_state_v_DBM(c_s,X,c_run) ),
    inference(resolution,[],['3093','3087']) ).

cnf('3095',plain,
    m_state_v_DBM(c_s,s8,c_run),
    inference(resolution,[],['3086','3094']) ).

cnf('3096',plain,
    ~ always206(s8),
    inference(resolution,[then_simplify],['2611','3050','3095']) ).

cnf('3097',plain,
    ( ~ node207(X)
    | always206(X) ),
    inference(cnf_transformation,[],[prpty74]) ).

cnf('3098',plain,
    ~ node207(s8),
    inference(resolution,[],['3096','3097']) ).

cnf('3099',plain,
    ~ node235(s8),
    inference(resolution,[then_simplify],['3049','2685','3098']) ).

cnf('3100',plain,
    ~ until236(s8),
    inference(resolution,[then_simplify],['3022','2689','3099']) ).

cnf('3101',plain,
    ~ node205(s8),
    inference(resolution,[],['2738','2800']) ).

cnf('3102',plain,
    ~ node240(s8),
    inference(resolution,[then_simplify],['3100','2694','3101']) ).

cnf('3103',plain,
    ~ until241(s8),
    inference(resolution,[then_simplify],['3019','2803','3102']) ).

cnf('3104',plain,
    ( ~ trans(X,Y)
    | ~ always202(X)
    | always202(Y) ),
    inference(cnf_transformation,[],[prpty56]) ).

cnf('3105',plain,
    ( ~ always202(s8)
    | always202(s9) ),
    inference(resolution,[],['1287','3104']) ).

cnf('3106',plain,
    ~ always202(s8),
    inference(resolution,[],['2811','3105']) ).

cnf('3107',plain,
    ~ node203(s8),
    inference(resolution,[],['3106','2812']) ).

cnf('3108',plain,
    ~ node245(s8),
    inference(resolution,[then_simplify],['3103','2808','3107']) ).

cnf('3109',plain,
    ~ until246(s8),
    inference(resolution,[then_simplify],['3016','2815','3108']) ).

cnf('3110',plain,
    ~ node201(s8),
    inference(resolution,[],['2873','2881']) ).

cnf('3111',plain,
    ~ node250(s8),
    inference(resolution,[then_simplify],['3109','2820','3110']) ).

cnf('3112',plain,
    ~ until251(s8),
    inference(resolution,[then_simplify],['3013','2884','3111']) ).

cnf('3113',plain,
    ~ node199(s8),
    inference(resolution,[],['2856','2919']) ).

cnf('3114',plain,
    ~ node255(s8),
    inference(resolution,[then_simplify],['3112','2889','3113']) ).

cnf('3115',plain,
    ~ until256(s8),
    inference(resolution,[then_simplify],['3010','2922','3114']) ).

cnf('3116',plain,
    ( ~ node130(c_s,s6,X)
    | ~ m_state_v_A1M(c_s,X,c_extend) ),
    inference(resolution,[],['1120','191']) ).

cnf('3117',plain,
    ~ m_state_v_A1M(c_s,s7,c_extend),
    inference(resolution,[],['1136','3116']) ).

cnf('3118',plain,
    ~ node29(c_s,s7),
    inference(resolution,[],['3117','226']) ).

cnf('3119',plain,
    node32(c_s,s7,s8),
    inference(resolution,[],['230','1011']) ).

cnf('3120',plain,
    ( ~ m_state_v_A1M(c_s,s7,c_retract)
    | m_state_v_a1ext(c_s,s8,c_retracted)
    | node29(c_s,s7)
    | node30(c_s,s7) ),
    inference(resolution,[],['3119','1278']) ).

cnf('3121',plain,
    m_state_v_A1M(c_s,s7,c_retract),
    inference(resolution,[],['1136','1137']) ).

cnf('3122',plain,
    ~ node30(c_s,s7),
    inference(resolution,[],['1261','569']) ).

cnf('3123',plain,
    m_state_v_a1ext(c_s,s8,c_retracted),
    inference(resolution,[then_simplify],['3118','3120','3121','3122']) ).

cnf('3124',plain,
    ~ m_state_v_a1ext(c_s,s8,c_a1ip),
    inference(resolution,[],['3123','168']) ).

cnf('3125',plain,
    ( m_state_v_a1ext(c_s,X,c_a1ip)
    | ~ node197(X) ),
    inference(cnf_transformation,[],[prpty41]) ).

cnf('3126',plain,
    ~ node197(s8),
    inference(resolution,[],['3124','3125']) ).

cnf('3127',plain,
    ~ node260(s8),
    inference(resolution,[then_simplify],['3115','2927','3126']) ).

cnf('3128',plain,
    ~ until261(s8),
    inference(resolution,[then_simplify],['3007','2931','3127']) ).

cnf('3129',plain,
    ~ m_state_v_a1ext(c_s,s8,c_ot),
    inference(resolution,[],['3123','238']) ).

cnf('3130',plain,
    ( m_state_v_a1ext(c_s,X,c_ot)
    | ~ node195(X) ),
    inference(cnf_transformation,[],[prpty34]) ).

cnf('3131',plain,
    ~ node195(s8),
    inference(resolution,[],['3129','3130']) ).

cnf('3132',plain,
    ~ node265(s8),
    inference(resolution,[then_simplify],['3128','2936','3131']) ).

cnf('3133',plain,
    ~ until266(s8),
    inference(resolution,[then_simplify],['3004','2940','3132']) ).

cnf('3134',plain,
    ( $pr(loop)
    | ~ always192(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty23]) ).

cnf('3135',plain,
    ( ~ always192(s9)
    | $pr(loop) ),
    inference(resolution,[],['3134','1813']) ).

cnf('3136',plain,
    ~ always192(s9),
    inference(resolution,[],['1811','3135']) ).

cnf('3137',plain,
    ( ~ trans(X,Y)
    | ~ always192(X)
    | always192(Y) ),
    inference(cnf_transformation,[],[prpty22]) ).

cnf('3138',plain,
    ( ~ always192(s8)
    | always192(s9) ),
    inference(resolution,[],['1287','3137']) ).

cnf('3139',plain,
    ~ always192(s8),
    inference(resolution,[],['3136','3138']) ).

cnf('3140',plain,
    ( ~ node193(X)
    | always192(X) ),
    inference(cnf_transformation,[],[prpty28]) ).

cnf('3141',plain,
    ~ node193(s8),
    inference(resolution,[],['3139','3140']) ).

cnf('3142',plain,
    ~ node270(s8),
    inference(resolution,[then_simplify],['3133','2945','3141']) ).

cnf('3143',plain,
    ~ until271(s8),
    inference(resolution,[then_simplify],['3001','2950','3142']) ).

cnf('3144',plain,
    ~ node191(s8),
    inference(resolution,[],['1457','2961']) ).

cnf('3145',plain,
    ~ node275(s8),
    inference(resolution,[then_simplify],['3143','2955','3144']) ).

cnf('3146',plain,
    ~ until276(s8),
    inference(resolution,[then_simplify],['2998','2964','3145']) ).

cnf('3147',plain,
    ~ node189(s8),
    inference(resolution,[],['1474','2970']) ).

cnf('3148',plain,
    ~ node280(s8),
    inference(resolution,[then_simplify],['3146','2969','3147']) ).

cnf('3149',plain,
    ~ until281(s8),
    inference(resolution,[then_simplify],['2995','2973','3148']) ).

cnf('3150',plain,
    ~ node182(c_s,s7),
    inference(resolution,[],['2352','1959']) ).

cnf('3151',plain,
    ~ node183(c_s,s7),
    inference(resolution,[],['989','1957']) ).

cnf('3152',plain,
    ( ~ node185(c_s,s7,X)
    | node184(c_s,s7,X) ),
    inference(resolution,[then_simplify],['3150','1956','3151']) ).

cnf('3153',plain,
    node185(c_s,s7,s8),
    inference(resolution,[],['1954','1011']) ).

cnf('3154',plain,
    node184(c_s,s7,s8),
    inference(resolution,[],['3152','3153']) ).

cnf('3155',plain,
    ( ~ node184(c_s,s7,X)
    | ~ m_state_v_FBM(c_s,X,c_on) ),
    inference(resolution,[],['2352','1963']) ).

cnf('3156',plain,
    ~ m_state_v_FBM(c_s,s8,c_on),
    inference(resolution,[],['3154','3155']) ).

cnf('3157',plain,
    ( m_state_v_FBM(c_s,X,c_on)
    | ~ node187(X) ),
    inference(cnf_transformation,[],[prpty4]) ).

cnf('3158',plain,
    ~ node187(s8),
    inference(resolution,[],['3156','3157']) ).

cnf('3159',plain,
    ~ node285(s8),
    inference(resolution,[then_simplify],['3149','2978','3158']) ).

cnf('3160',plain,
    ~ until286(s8),
    inference(resolution,[then_simplify],['2992','2985','3159']) ).

cnf('3161',plain,
    ( ~ xuntil287(s7)
    | until286(s8) ),
    inference(resolution,[],['2990','1010']) ).

cnf('3162',plain,
    ~ xuntil287(s7),
    inference(resolution,[],['3160','3161']) ).

cnf('3163',plain,
    ( ~ xuntil282(s7)
    | until281(s8) ),
    inference(resolution,[],['2993','1010']) ).

cnf('3164',plain,
    ~ xuntil282(s7),
    inference(resolution,[],['3149','3163']) ).

cnf('3165',plain,
    ( ~ xuntil277(s7)
    | until276(s8) ),
    inference(resolution,[],['2996','1010']) ).

cnf('3166',plain,
    ~ xuntil277(s7),
    inference(resolution,[],['3146','3165']) ).

cnf('3167',plain,
    ( ~ xuntil272(s7)
    | until271(s8) ),
    inference(resolution,[],['2999','1010']) ).

cnf('3168',plain,
    ~ xuntil272(s7),
    inference(resolution,[],['3143','3167']) ).

cnf('3169',plain,
    ( ~ xuntil267(s7)
    | until266(s8) ),
    inference(resolution,[],['3002','1010']) ).

cnf('3170',plain,
    ~ xuntil267(s7),
    inference(resolution,[],['3133','3169']) ).

cnf('3171',plain,
    ( ~ xuntil262(s7)
    | until261(s8) ),
    inference(resolution,[],['3005','1010']) ).

cnf('3172',plain,
    ~ xuntil262(s7),
    inference(resolution,[],['3128','3171']) ).

cnf('3173',plain,
    ( ~ xuntil257(s7)
    | until256(s8) ),
    inference(resolution,[],['3008','1010']) ).

cnf('3174',plain,
    ~ xuntil257(s7),
    inference(resolution,[],['3115','3173']) ).

cnf('3175',plain,
    ( ~ xuntil252(s7)
    | until251(s8) ),
    inference(resolution,[],['3011','1010']) ).

cnf('3176',plain,
    ~ xuntil252(s7),
    inference(resolution,[],['3112','3175']) ).

cnf('3177',plain,
    ( ~ xuntil247(s7)
    | until246(s8) ),
    inference(resolution,[],['3014','1010']) ).

cnf('3178',plain,
    ~ xuntil247(s7),
    inference(resolution,[],['3109','3177']) ).

cnf('3179',plain,
    ( ~ xuntil242(s7)
    | until241(s8) ),
    inference(resolution,[],['3017','1010']) ).

cnf('3180',plain,
    ~ xuntil242(s7),
    inference(resolution,[],['3103','3179']) ).

cnf('3181',plain,
    ( ~ xuntil237(s7)
    | until236(s8) ),
    inference(resolution,[],['3020','1010']) ).

cnf('3182',plain,
    ~ xuntil237(s7),
    inference(resolution,[],['3100','3181']) ).

cnf('3183',plain,
    ( ~ xuntil232(s7)
    | until231(s8) ),
    inference(resolution,[],['3023','1010']) ).

cnf('3184',plain,
    ~ xuntil232(s7),
    inference(resolution,[],['3049','3183']) ).

cnf('3185',plain,
    ( ~ xuntil227(s7)
    | until226(s8) ),
    inference(resolution,[],['3026','1010']) ).

cnf('3186',plain,
    ~ xuntil227(s7),
    inference(resolution,[],['3043','3185']) ).

cnf('3187',plain,
    ( ~ xuntil222(s7)
    | until221(s8) ),
    inference(resolution,[],['3029','1010']) ).

cnf('3188',plain,
    ~ xuntil222(s7),
    inference(resolution,[],['3040','3187']) ).

cnf('3189',plain,
    ( ~ xuntil217(s7)
    | until216(s8) ),
    inference(resolution,[],['3032','1010']) ).

cnf('3190',plain,
    ~ xuntil217(s7),
    inference(resolution,[],['3036','3189']) ).

cnf('3191',plain,
    ~ node215(s7),
    inference(resolution,[],['2289','2541']) ).

cnf('3192',plain,
    ~ until216(s7),
    inference(resolution,[then_simplify],['3190','1816','3191']) ).

cnf('3193',plain,
    ~ m_state_v_pbe(c_s,s7),
    inference(resolution,[then_simplify],['2629','2494','2630']) ).

cnf('3194',plain,
    ~ node213(s7),
    inference(resolution,[],['3193','2634']) ).

cnf('3195',plain,
    ~ node220(s7),
    inference(resolution,[then_simplify],['3192','2544','3194']) ).

cnf('3196',plain,
    ~ until221(s7),
    inference(resolution,[then_simplify],['3188','2637','3195']) ).

cnf('3197',plain,
    ~ node211(s7),
    inference(resolution,[],['2589','2665']) ).

cnf('3198',plain,
    ~ node225(s7),
    inference(resolution,[then_simplify],['3196','2642','3197']) ).

cnf('3199',plain,
    ~ until226(s7),
    inference(resolution,[then_simplify],['3186','2668','3198']) ).

cnf('3200',plain,
    ( ~ always208(s7)
    | always208(s8) ),
    inference(resolution,[],['1011','3044']) ).

cnf('3201',plain,
    ~ always208(s7),
    inference(resolution,[],['3046','3200']) ).

cnf('3202',plain,
    ~ node209(s7),
    inference(resolution,[],['3201','2677']) ).

cnf('3203',plain,
    ~ node230(s7),
    inference(resolution,[then_simplify],['3199','2673','3202']) ).

cnf('3204',plain,
    ~ until231(s7),
    inference(resolution,[then_simplify],['3184','2680','3203']) ).

cnf('3205',plain,
    m_state_v_DBM(c_s,s7,c_run),
    inference(resolution,[],['3080','3092']) ).

cnf('3206',plain,
    ~ always206(s7),
    inference(resolution,[then_simplify],['2589','3050','3205']) ).

cnf('3207',plain,
    ~ node207(s7),
    inference(resolution,[],['3206','3097']) ).

cnf('3208',plain,
    ~ node235(s7),
    inference(resolution,[then_simplify],['3204','2685','3207']) ).

cnf('3209',plain,
    ~ until236(s7),
    inference(resolution,[then_simplify],['3182','2689','3208']) ).

cnf('3210',plain,
    ~ node205(s7),
    inference(resolution,[],['2714','2800']) ).

cnf('3211',plain,
    ~ node240(s7),
    inference(resolution,[then_simplify],['3209','2694','3210']) ).

cnf('3212',plain,
    ~ until241(s7),
    inference(resolution,[then_simplify],['3180','2803','3211']) ).

cnf('3213',plain,
    ( ~ always202(s7)
    | always202(s8) ),
    inference(resolution,[],['1011','3104']) ).

cnf('3214',plain,
    ~ always202(s7),
    inference(resolution,[],['3106','3213']) ).

cnf('3215',plain,
    ~ node203(s7),
    inference(resolution,[],['3214','2812']) ).

cnf('3216',plain,
    ~ node245(s7),
    inference(resolution,[then_simplify],['3212','2808','3215']) ).

cnf('3217',plain,
    ~ until246(s7),
    inference(resolution,[then_simplify],['3178','2815','3216']) ).

cnf('3218',plain,
    ~ node201(s7),
    inference(resolution,[],['2866','2881']) ).

cnf('3219',plain,
    ~ node250(s7),
    inference(resolution,[then_simplify],['3217','2820','3218']) ).

cnf('3220',plain,
    ~ until251(s7),
    inference(resolution,[then_simplify],['3176','2884','3219']) ).

cnf('3221',plain,
    ~ node199(s7),
    inference(resolution,[],['1770','2919']) ).

cnf('3222',plain,
    ~ node255(s7),
    inference(resolution,[then_simplify],['3220','2889','3221']) ).

cnf('3223',plain,
    ~ until256(s7),
    inference(resolution,[then_simplify],['3174','2922','3222']) ).

cnf('3224',plain,
    ~ node197(s7),
    inference(resolution,[],['1485','3125']) ).

cnf('3225',plain,
    ~ node260(s7),
    inference(resolution,[then_simplify],['3223','2927','3224']) ).

cnf('3226',plain,
    ~ until261(s7),
    inference(resolution,[then_simplify],['3172','2931','3225']) ).

cnf('3227',plain,
    ~ node195(s7),
    inference(resolution,[],['1487','3130']) ).

cnf('3228',plain,
    ~ node265(s7),
    inference(resolution,[then_simplify],['3226','2936','3227']) ).

cnf('3229',plain,
    ~ until266(s7),
    inference(resolution,[then_simplify],['3170','2940','3228']) ).

cnf('3230',plain,
    ( ~ always192(s7)
    | always192(s8) ),
    inference(resolution,[],['1011','3137']) ).

cnf('3231',plain,
    ~ always192(s7),
    inference(resolution,[],['3139','3230']) ).

cnf('3232',plain,
    ~ node193(s7),
    inference(resolution,[],['3231','3140']) ).

cnf('3233',plain,
    ~ node270(s7),
    inference(resolution,[then_simplify],['3229','2945','3232']) ).

cnf('3234',plain,
    ~ until271(s7),
    inference(resolution,[then_simplify],['3168','2950','3233']) ).

cnf('3235',plain,
    ~ node191(s7),
    inference(resolution,[],['1007','2961']) ).

cnf('3236',plain,
    ~ node275(s7),
    inference(resolution,[then_simplify],['3234','2955','3235']) ).

cnf('3237',plain,
    ~ until276(s7),
    inference(resolution,[then_simplify],['3166','2964','3236']) ).

cnf('3238',plain,
    ~ node189(s7),
    inference(resolution,[],['1466','2970']) ).

cnf('3239',plain,
    ~ node280(s7),
    inference(resolution,[then_simplify],['3237','2969','3238']) ).

cnf('3240',plain,
    ~ until281(s7),
    inference(resolution,[then_simplify],['3164','2973','3239']) ).

cnf('3241',plain,
    ~ node187(s7),
    inference(resolution,[],['2352','3157']) ).

cnf('3242',plain,
    ~ node285(s7),
    inference(resolution,[then_simplify],['3240','2978','3241']) ).

cnf('3243',plain,
    ~ until286(s7),
    inference(resolution,[then_simplify],['3162','2985','3242']) ).

cnf('3244',plain,
    ( ~ xuntil287(s6)
    | until286(s7) ),
    inference(resolution,[],['2990','855']) ).

cnf('3245',plain,
    ~ xuntil287(s6),
    inference(resolution,[],['3243','3244']) ).

cnf('3246',plain,
    ( ~ xuntil282(s6)
    | until281(s7) ),
    inference(resolution,[],['2993','855']) ).

cnf('3247',plain,
    ~ xuntil282(s6),
    inference(resolution,[],['3240','3246']) ).

cnf('3248',plain,
    ( ~ xuntil277(s6)
    | until276(s7) ),
    inference(resolution,[],['2996','855']) ).

cnf('3249',plain,
    ~ xuntil277(s6),
    inference(resolution,[],['3237','3248']) ).

cnf('3250',plain,
    ( ~ xuntil272(s6)
    | until271(s7) ),
    inference(resolution,[],['2999','855']) ).

cnf('3251',plain,
    ~ xuntil272(s6),
    inference(resolution,[],['3234','3250']) ).

cnf('3252',plain,
    ( ~ xuntil267(s6)
    | until266(s7) ),
    inference(resolution,[],['3002','855']) ).

cnf('3253',plain,
    ~ xuntil267(s6),
    inference(resolution,[],['3229','3252']) ).

cnf('3254',plain,
    ( ~ xuntil262(s6)
    | until261(s7) ),
    inference(resolution,[],['3005','855']) ).

cnf('3255',plain,
    ~ xuntil262(s6),
    inference(resolution,[],['3226','3254']) ).

cnf('3256',plain,
    ( ~ xuntil257(s6)
    | until256(s7) ),
    inference(resolution,[],['3008','855']) ).

cnf('3257',plain,
    ~ xuntil257(s6),
    inference(resolution,[],['3223','3256']) ).

cnf('3258',plain,
    ( ~ xuntil252(s6)
    | until251(s7) ),
    inference(resolution,[],['3011','855']) ).

cnf('3259',plain,
    ~ xuntil252(s6),
    inference(resolution,[],['3220','3258']) ).

cnf('3260',plain,
    ( ~ xuntil247(s6)
    | until246(s7) ),
    inference(resolution,[],['3014','855']) ).

cnf('3261',plain,
    ~ xuntil247(s6),
    inference(resolution,[],['3217','3260']) ).

cnf('3262',plain,
    ( ~ xuntil242(s6)
    | until241(s7) ),
    inference(resolution,[],['3017','855']) ).

cnf('3263',plain,
    ~ xuntil242(s6),
    inference(resolution,[],['3212','3262']) ).

cnf('3264',plain,
    ( ~ xuntil237(s6)
    | until236(s7) ),
    inference(resolution,[],['3020','855']) ).

cnf('3265',plain,
    ~ xuntil237(s6),
    inference(resolution,[],['3209','3264']) ).

cnf('3266',plain,
    ( ~ xuntil232(s6)
    | until231(s7) ),
    inference(resolution,[],['3023','855']) ).

cnf('3267',plain,
    ~ xuntil232(s6),
    inference(resolution,[],['3204','3266']) ).

cnf('3268',plain,
    ( ~ xuntil227(s6)
    | until226(s7) ),
    inference(resolution,[],['3026','855']) ).

cnf('3269',plain,
    ~ xuntil227(s6),
    inference(resolution,[],['3199','3268']) ).

cnf('3270',plain,
    ( ~ xuntil222(s6)
    | until221(s7) ),
    inference(resolution,[],['3029','855']) ).

cnf('3271',plain,
    ~ xuntil222(s6),
    inference(resolution,[],['3196','3270']) ).

cnf('3272',plain,
    ( ~ xuntil217(s6)
    | until216(s7) ),
    inference(resolution,[],['3032','855']) ).

cnf('3273',plain,
    ~ xuntil217(s6),
    inference(resolution,[],['3192','3272']) ).

cnf('3274',plain,
    ~ node215(s6),
    inference(resolution,[],['2194','2541']) ).

cnf('3275',plain,
    ~ until216(s6),
    inference(resolution,[then_simplify],['3273','1816','3274']) ).

cnf('3276',plain,
    ~ node213(s6),
    inference(resolution,[],['2511','2634']) ).

cnf('3277',plain,
    ~ node220(s6),
    inference(resolution,[then_simplify],['3275','2544','3276']) ).

cnf('3278',plain,
    ~ until221(s6),
    inference(resolution,[then_simplify],['3271','2637','3277']) ).

cnf('3279',plain,
    ~ node211(s6),
    inference(resolution,[],['2567','2665']) ).

cnf('3280',plain,
    ~ node225(s6),
    inference(resolution,[then_simplify],['3278','2642','3279']) ).

cnf('3281',plain,
    ~ until226(s6),
    inference(resolution,[then_simplify],['3269','2668','3280']) ).

cnf('3282',plain,
    ( ~ always208(s6)
    | always208(s7) ),
    inference(resolution,[],['856','3044']) ).

cnf('3283',plain,
    ~ always208(s6),
    inference(resolution,[],['3201','3282']) ).

cnf('3284',plain,
    ~ node209(s6),
    inference(resolution,[],['3283','2677']) ).

cnf('3285',plain,
    ~ node230(s6),
    inference(resolution,[then_simplify],['3281','2673','3284']) ).

cnf('3286',plain,
    ~ until231(s6),
    inference(resolution,[then_simplify],['3267','2680','3285']) ).

cnf('3287',plain,
    m_state_v_DBM(c_s,s6,c_run),
    inference(resolution,[],['3074','3090']) ).

cnf('3288',plain,
    ~ always206(s6),
    inference(resolution,[then_simplify],['2567','3050','3287']) ).

cnf('3289',plain,
    ~ node207(s6),
    inference(resolution,[],['3288','3097']) ).

cnf('3290',plain,
    ~ node235(s6),
    inference(resolution,[then_simplify],['3286','2685','3289']) ).

cnf('3291',plain,
    ~ until236(s6),
    inference(resolution,[then_simplify],['3265','2689','3290']) ).

cnf('3292',plain,
    ~ node205(s6),
    inference(resolution,[],['2704','2800']) ).

cnf('3293',plain,
    ~ node240(s6),
    inference(resolution,[then_simplify],['3291','2694','3292']) ).

cnf('3294',plain,
    ~ until241(s6),
    inference(resolution,[then_simplify],['3263','2803','3293']) ).

cnf('3295',plain,
    ( ~ always202(s6)
    | always202(s7) ),
    inference(resolution,[],['856','3104']) ).

cnf('3296',plain,
    ~ always202(s6),
    inference(resolution,[],['3214','3295']) ).

cnf('3297',plain,
    ~ node203(s6),
    inference(resolution,[],['3296','2812']) ).

cnf('3298',plain,
    ~ node245(s6),
    inference(resolution,[then_simplify],['3294','2808','3297']) ).

cnf('3299',plain,
    ~ until246(s6),
    inference(resolution,[then_simplify],['3261','2815','3298']) ).

cnf('3300',plain,
    ~ node201(s6),
    inference(resolution,[],['2831','2881']) ).

cnf('3301',plain,
    ~ node250(s6),
    inference(resolution,[then_simplify],['3299','2820','3300']) ).

cnf('3302',plain,
    ~ until251(s6),
    inference(resolution,[then_simplify],['3259','2884','3301']) ).

cnf('3303',plain,
    ~ node199(s6),
    inference(resolution,[],['1765','2919']) ).

cnf('3304',plain,
    ~ node255(s6),
    inference(resolution,[then_simplify],['3302','2889','3303']) ).

cnf('3305',plain,
    ~ until256(s6),
    inference(resolution,[then_simplify],['3257','2922','3304']) ).

cnf('3306',plain,
    ~ node197(s6),
    inference(resolution,[],['1126','3125']) ).

cnf('3307',plain,
    ~ node260(s6),
    inference(resolution,[then_simplify],['3305','2927','3306']) ).

cnf('3308',plain,
    ~ until261(s6),
    inference(resolution,[then_simplify],['3255','2931','3307']) ).

cnf('3309',plain,
    ( m_state_v_A1M(c_s,X,c_extend)
    | ~ node195(X) ),
    inference(cnf_transformation,[],[prpty33]) ).

cnf('3310',plain,
    ~ node195(s6),
    inference(resolution,[],['1120','3309']) ).

cnf('3311',plain,
    ~ node265(s6),
    inference(resolution,[then_simplify],['3308','2936','3310']) ).

cnf('3312',plain,
    ~ until266(s6),
    inference(resolution,[then_simplify],['3253','2940','3311']) ).

cnf('3313',plain,
    ( ~ always192(s6)
    | always192(s7) ),
    inference(resolution,[],['856','3137']) ).

cnf('3314',plain,
    ~ always192(s6),
    inference(resolution,[],['3231','3313']) ).

cnf('3315',plain,
    ~ node193(s6),
    inference(resolution,[],['3314','3140']) ).

cnf('3316',plain,
    ~ node270(s6),
    inference(resolution,[then_simplify],['3312','2945','3315']) ).

cnf('3317',plain,
    ~ until271(s6),
    inference(resolution,[then_simplify],['3251','2950','3316']) ).

cnf('3318',plain,
    ~ node191(s6),
    inference(resolution,[],['852','2961']) ).

cnf('3319',plain,
    ~ node275(s6),
    inference(resolution,[then_simplify],['3317','2955','3318']) ).

cnf('3320',plain,
    ~ until276(s6),
    inference(resolution,[then_simplify],['3249','2964','3319']) ).

cnf('3321',plain,
    ~ node189(s6),
    inference(resolution,[],['878','2970']) ).

cnf('3322',plain,
    ~ node280(s6),
    inference(resolution,[then_simplify],['3320','2969','3321']) ).

cnf('3323',plain,
    ~ until281(s6),
    inference(resolution,[then_simplify],['3247','2973','3322']) ).

cnf('3324',plain,
    ~ node187(s6),
    inference(resolution,[],['2297','3157']) ).

cnf('3325',plain,
    ~ node285(s6),
    inference(resolution,[then_simplify],['3323','2978','3324']) ).

cnf('3326',plain,
    ~ until286(s6),
    inference(resolution,[then_simplify],['3245','2985','3325']) ).

cnf('3327',plain,
    ( ~ xuntil287(s5)
    | until286(s6) ),
    inference(resolution,[],['2990','709']) ).

cnf('3328',plain,
    ~ xuntil287(s5),
    inference(resolution,[],['3326','3327']) ).

cnf('3329',plain,
    ( ~ xuntil282(s5)
    | until281(s6) ),
    inference(resolution,[],['2993','709']) ).

cnf('3330',plain,
    ~ xuntil282(s5),
    inference(resolution,[],['3323','3329']) ).

cnf('3331',plain,
    ( ~ xuntil277(s5)
    | until276(s6) ),
    inference(resolution,[],['2996','709']) ).

cnf('3332',plain,
    ~ xuntil277(s5),
    inference(resolution,[],['3320','3331']) ).

cnf('3333',plain,
    ( ~ xuntil272(s5)
    | until271(s6) ),
    inference(resolution,[],['2999','709']) ).

cnf('3334',plain,
    ~ xuntil272(s5),
    inference(resolution,[],['3317','3333']) ).

cnf('3335',plain,
    ( ~ xuntil267(s5)
    | until266(s6) ),
    inference(resolution,[],['3002','709']) ).

cnf('3336',plain,
    ~ xuntil267(s5),
    inference(resolution,[],['3312','3335']) ).

cnf('3337',plain,
    ( ~ xuntil262(s5)
    | until261(s6) ),
    inference(resolution,[],['3005','709']) ).

cnf('3338',plain,
    ~ xuntil262(s5),
    inference(resolution,[],['3308','3337']) ).

cnf('3339',plain,
    ( ~ xuntil257(s5)
    | until256(s6) ),
    inference(resolution,[],['3008','709']) ).

cnf('3340',plain,
    ~ xuntil257(s5),
    inference(resolution,[],['3305','3339']) ).

cnf('3341',plain,
    ( ~ xuntil252(s5)
    | until251(s6) ),
    inference(resolution,[],['3011','709']) ).

cnf('3342',plain,
    ~ xuntil252(s5),
    inference(resolution,[],['3302','3341']) ).

cnf('3343',plain,
    ( ~ xuntil247(s5)
    | until246(s6) ),
    inference(resolution,[],['3014','709']) ).

cnf('3344',plain,
    ~ xuntil247(s5),
    inference(resolution,[],['3299','3343']) ).

cnf('3345',plain,
    ( ~ xuntil242(s5)
    | until241(s6) ),
    inference(resolution,[],['3017','709']) ).

cnf('3346',plain,
    ~ xuntil242(s5),
    inference(resolution,[],['3294','3345']) ).

cnf('3347',plain,
    ( ~ xuntil237(s5)
    | until236(s6) ),
    inference(resolution,[],['3020','709']) ).

cnf('3348',plain,
    ~ xuntil237(s5),
    inference(resolution,[],['3291','3347']) ).

cnf('3349',plain,
    ( ~ xuntil232(s5)
    | until231(s6) ),
    inference(resolution,[],['3023','709']) ).

cnf('3350',plain,
    ~ xuntil232(s5),
    inference(resolution,[],['3286','3349']) ).

cnf('3351',plain,
    ( ~ xuntil227(s5)
    | until226(s6) ),
    inference(resolution,[],['3026','709']) ).

cnf('3352',plain,
    ~ xuntil227(s5),
    inference(resolution,[],['3281','3351']) ).

cnf('3353',plain,
    ( ~ xuntil222(s5)
    | until221(s6) ),
    inference(resolution,[],['3029','709']) ).

cnf('3354',plain,
    ~ xuntil222(s5),
    inference(resolution,[],['3278','3353']) ).

cnf('3355',plain,
    ( ~ xuntil217(s5)
    | until216(s6) ),
    inference(resolution,[],['3032','709']) ).

cnf('3356',plain,
    ~ xuntil217(s5),
    inference(resolution,[],['3275','3355']) ).

cnf('3357',plain,
    ~ node215(s5),
    inference(resolution,[],['2119','2541']) ).

cnf('3358',plain,
    ~ until216(s5),
    inference(resolution,[then_simplify],['3356','1816','3357']) ).

cnf('3359',plain,
    ( m_state_v_gob(c_s,X)
    | ~ node213(X) ),
    inference(cnf_transformation,[],[prpty90]) ).

cnf('3360',plain,
    ~ node213(s5),
    inference(resolution,[],['2083','3359']) ).

cnf('3361',plain,
    ~ node220(s5),
    inference(resolution,[then_simplify],['3358','2544','3360']) ).

cnf('3362',plain,
    ~ until221(s5),
    inference(resolution,[then_simplify],['3354','2637','3361']) ).

cnf('3363',plain,
    ~ node211(s5),
    inference(resolution,[],['2487','2665']) ).

cnf('3364',plain,
    ~ node225(s5),
    inference(resolution,[then_simplify],['3362','2642','3363']) ).

cnf('3365',plain,
    ~ until226(s5),
    inference(resolution,[then_simplify],['3352','2668','3364']) ).

cnf('3366',plain,
    ( ~ always208(s5)
    | always208(s6) ),
    inference(resolution,[],['710','3044']) ).

cnf('3367',plain,
    ~ always208(s5),
    inference(resolution,[],['3283','3366']) ).

cnf('3368',plain,
    ~ node209(s5),
    inference(resolution,[],['3367','2677']) ).

cnf('3369',plain,
    ~ node230(s5),
    inference(resolution,[then_simplify],['3365','2673','3368']) ).

cnf('3370',plain,
    ~ until231(s5),
    inference(resolution,[then_simplify],['3350','2680','3369']) ).

cnf('3371',plain,
    m_state_v_DBM(c_s,s5,c_run),
    inference(resolution,[],['3068','3088']) ).

cnf('3372',plain,
    ~ always206(s5),
    inference(resolution,[then_simplify],['2487','3050','3371']) ).

cnf('3373',plain,
    ~ node207(s5),
    inference(resolution,[],['3372','3097']) ).

cnf('3374',plain,
    ~ node235(s5),
    inference(resolution,[then_simplify],['3370','2685','3373']) ).

cnf('3375',plain,
    ~ until236(s5),
    inference(resolution,[then_simplify],['3348','2689','3374']) ).

cnf('3376',plain,
    ~ node205(s5),
    inference(resolution,[],['1321','2800']) ).

cnf('3377',plain,
    ~ node240(s5),
    inference(resolution,[then_simplify],['3375','2694','3376']) ).

cnf('3378',plain,
    ~ until241(s5),
    inference(resolution,[then_simplify],['3346','2803','3377']) ).

cnf('3379',plain,
    ( ~ always202(s5)
    | always202(s6) ),
    inference(resolution,[],['710','3104']) ).

cnf('3380',plain,
    ~ always202(s5),
    inference(resolution,[],['3296','3379']) ).

cnf('3381',plain,
    ~ node203(s5),
    inference(resolution,[],['3380','2812']) ).

cnf('3382',plain,
    ~ node245(s5),
    inference(resolution,[then_simplify],['3378','2808','3381']) ).

cnf('3383',plain,
    ~ until246(s5),
    inference(resolution,[then_simplify],['3344','2815','3382']) ).

cnf('3384',plain,
    ~ node201(s5),
    inference(resolution,[],['1728','2881']) ).

cnf('3385',plain,
    ~ node250(s5),
    inference(resolution,[then_simplify],['3383','2820','3384']) ).

cnf('3386',plain,
    ~ until251(s5),
    inference(resolution,[then_simplify],['3342','2884','3385']) ).

cnf('3387',plain,
    ~ node199(s5),
    inference(resolution,[],['1738','2919']) ).

cnf('3388',plain,
    ~ node255(s5),
    inference(resolution,[then_simplify],['3386','2889','3387']) ).

cnf('3389',plain,
    ~ until256(s5),
    inference(resolution,[then_simplify],['3340','2922','3388']) ).

cnf('3390',plain,
    ~ node197(s5),
    inference(resolution,[],['1113','3125']) ).

cnf('3391',plain,
    ~ node260(s5),
    inference(resolution,[then_simplify],['3389','2927','3390']) ).

cnf('3392',plain,
    ~ until261(s5),
    inference(resolution,[then_simplify],['3338','2931','3391']) ).

cnf('3393',plain,
    ~ node195(s5),
    inference(resolution,[],['890','3309']) ).

cnf('3394',plain,
    ~ node265(s5),
    inference(resolution,[then_simplify],['3392','2936','3393']) ).

cnf('3395',plain,
    ~ until266(s5),
    inference(resolution,[then_simplify],['3336','2940','3394']) ).

cnf('3396',plain,
    ( ~ always192(s5)
    | always192(s6) ),
    inference(resolution,[],['710','3137']) ).

cnf('3397',plain,
    ~ always192(s5),
    inference(resolution,[],['3314','3396']) ).

cnf('3398',plain,
    ~ node193(s5),
    inference(resolution,[],['3397','3140']) ).

cnf('3399',plain,
    ~ node270(s5),
    inference(resolution,[then_simplify],['3395','2945','3398']) ).

cnf('3400',plain,
    ~ until271(s5),
    inference(resolution,[then_simplify],['3334','2950','3399']) ).

cnf('3401',plain,
    ~ node191(s5),
    inference(resolution,[],['706','2961']) ).

cnf('3402',plain,
    ~ node275(s5),
    inference(resolution,[then_simplify],['3400','2955','3401']) ).

cnf('3403',plain,
    ~ until276(s5),
    inference(resolution,[then_simplify],['3332','2964','3402']) ).

cnf('3404',plain,
    ~ node189(s5),
    inference(resolution,[],['732','2970']) ).

cnf('3405',plain,
    ~ node280(s5),
    inference(resolution,[then_simplify],['3403','2969','3404']) ).

cnf('3406',plain,
    ~ until281(s5),
    inference(resolution,[then_simplify],['3330','2973','3405']) ).

cnf('3407',plain,
    ~ node187(s5),
    inference(resolution,[],['2274','3157']) ).

cnf('3408',plain,
    ~ node285(s5),
    inference(resolution,[then_simplify],['3406','2978','3407']) ).

cnf('3409',plain,
    ~ until286(s5),
    inference(resolution,[then_simplify],['3328','2985','3408']) ).

cnf('3410',plain,
    ( ~ xuntil287(s4)
    | until286(s5) ),
    inference(resolution,[],['2990','625']) ).

cnf('3411',plain,
    ~ xuntil287(s4),
    inference(resolution,[],['3409','3410']) ).

cnf('3412',plain,
    ( ~ xuntil282(s4)
    | until281(s5) ),
    inference(resolution,[],['2993','625']) ).

cnf('3413',plain,
    ~ xuntil282(s4),
    inference(resolution,[],['3406','3412']) ).

cnf('3414',plain,
    ( ~ xuntil277(s4)
    | until276(s5) ),
    inference(resolution,[],['2996','625']) ).

cnf('3415',plain,
    ~ xuntil277(s4),
    inference(resolution,[],['3403','3414']) ).

cnf('3416',plain,
    ( ~ xuntil272(s4)
    | until271(s5) ),
    inference(resolution,[],['2999','625']) ).

cnf('3417',plain,
    ~ xuntil272(s4),
    inference(resolution,[],['3400','3416']) ).

cnf('3418',plain,
    ( ~ xuntil267(s4)
    | until266(s5) ),
    inference(resolution,[],['3002','625']) ).

cnf('3419',plain,
    ~ xuntil267(s4),
    inference(resolution,[],['3395','3418']) ).

cnf('3420',plain,
    ( ~ xuntil262(s4)
    | until261(s5) ),
    inference(resolution,[],['3005','625']) ).

cnf('3421',plain,
    ~ xuntil262(s4),
    inference(resolution,[],['3392','3420']) ).

cnf('3422',plain,
    ( ~ xuntil257(s4)
    | until256(s5) ),
    inference(resolution,[],['3008','625']) ).

cnf('3423',plain,
    ~ xuntil257(s4),
    inference(resolution,[],['3389','3422']) ).

cnf('3424',plain,
    ( ~ xuntil252(s4)
    | until251(s5) ),
    inference(resolution,[],['3011','625']) ).

cnf('3425',plain,
    ~ xuntil252(s4),
    inference(resolution,[],['3386','3424']) ).

cnf('3426',plain,
    ( ~ xuntil247(s4)
    | until246(s5) ),
    inference(resolution,[],['3014','625']) ).

cnf('3427',plain,
    ~ xuntil247(s4),
    inference(resolution,[],['3383','3426']) ).

cnf('3428',plain,
    ( ~ xuntil242(s4)
    | until241(s5) ),
    inference(resolution,[],['3017','625']) ).

cnf('3429',plain,
    ~ xuntil242(s4),
    inference(resolution,[],['3378','3428']) ).

cnf('3430',plain,
    ( ~ xuntil237(s4)
    | until236(s5) ),
    inference(resolution,[],['3020','625']) ).

cnf('3431',plain,
    ~ xuntil237(s4),
    inference(resolution,[],['3375','3430']) ).

cnf('3432',plain,
    ( ~ xuntil232(s4)
    | until231(s5) ),
    inference(resolution,[],['3023','625']) ).

cnf('3433',plain,
    ~ xuntil232(s4),
    inference(resolution,[],['3370','3432']) ).

cnf('3434',plain,
    ( ~ xuntil227(s4)
    | until226(s5) ),
    inference(resolution,[],['3026','625']) ).

cnf('3435',plain,
    ~ xuntil227(s4),
    inference(resolution,[],['3365','3434']) ).

cnf('3436',plain,
    ( ~ xuntil222(s4)
    | until221(s5) ),
    inference(resolution,[],['3029','625']) ).

cnf('3437',plain,
    ~ xuntil222(s4),
    inference(resolution,[],['3362','3436']) ).

cnf('3438',plain,
    ( ~ xuntil217(s4)
    | until216(s5) ),
    inference(resolution,[],['3032','625']) ).

cnf('3439',plain,
    ~ xuntil217(s4),
    inference(resolution,[],['3358','3438']) ).

cnf('3440',plain,
    ( m_state_v_gvp(c_s,X,c_ovf)
    | ~ node215(X) ),
    inference(cnf_transformation,[],[prpty101]) ).

cnf('3441',plain,
    ~ node215(s4),
    inference(resolution,[],['2032','3440']) ).

cnf('3442',plain,
    ~ until216(s4),
    inference(resolution,[then_simplify],['3439','1816','3441']) ).

cnf('3443',plain,
    ~ node213(s4),
    inference(resolution,[],['2094','3359']) ).

cnf('3444',plain,
    ~ node220(s4),
    inference(resolution,[then_simplify],['3442','2544','3443']) ).

cnf('3445',plain,
    ~ until221(s4),
    inference(resolution,[then_simplify],['3437','2637','3444']) ).

cnf('3446',plain,
    ~ node211(s4),
    inference(resolution,[],['2481','2665']) ).

cnf('3447',plain,
    ~ node225(s4),
    inference(resolution,[then_simplify],['3445','2642','3446']) ).

cnf('3448',plain,
    ~ until226(s4),
    inference(resolution,[then_simplify],['3435','2668','3447']) ).

cnf('3449',plain,
    ( ~ always208(s4)
    | always208(s5) ),
    inference(resolution,[],['626','3044']) ).

cnf('3450',plain,
    ~ always208(s4),
    inference(resolution,[],['3367','3449']) ).

cnf('3451',plain,
    ~ node209(s4),
    inference(resolution,[],['3450','2677']) ).

cnf('3452',plain,
    ~ node230(s4),
    inference(resolution,[then_simplify],['3448','2673','3451']) ).

cnf('3453',plain,
    ~ until231(s4),
    inference(resolution,[then_simplify],['3433','2680','3452']) ).

cnf('3454',plain,
    m_state_v_DBM(c_s,s4,c_run),
    inference(resolution,[],['3060','3061']) ).

cnf('3455',plain,
    ~ always206(s4),
    inference(resolution,[then_simplify],['2481','3050','3454']) ).

cnf('3456',plain,
    ~ node207(s4),
    inference(resolution,[],['3455','3097']) ).

cnf('3457',plain,
    ~ node235(s4),
    inference(resolution,[then_simplify],['3453','2685','3456']) ).

cnf('3458',plain,
    ~ until236(s4),
    inference(resolution,[then_simplify],['3431','2689','3457']) ).

cnf('3459',plain,
    ~ node205(s4),
    inference(resolution,[],['1221','2800']) ).

cnf('3460',plain,
    ~ node240(s4),
    inference(resolution,[then_simplify],['3458','2694','3459']) ).

cnf('3461',plain,
    ~ until241(s4),
    inference(resolution,[then_simplify],['3429','2803','3460']) ).

cnf('3462',plain,
    ( ~ always202(s4)
    | always202(s5) ),
    inference(resolution,[],['626','3104']) ).

cnf('3463',plain,
    ~ always202(s4),
    inference(resolution,[],['3380','3462']) ).

cnf('3464',plain,
    ~ node203(s4),
    inference(resolution,[],['3463','2812']) ).

cnf('3465',plain,
    ~ node245(s4),
    inference(resolution,[then_simplify],['3461','2808','3464']) ).

cnf('3466',plain,
    ~ until246(s4),
    inference(resolution,[then_simplify],['3427','2815','3465']) ).

cnf('3467',plain,
    ~ node201(s4),
    inference(resolution,[],['1681','2881']) ).

cnf('3468',plain,
    ~ node250(s4),
    inference(resolution,[then_simplify],['3466','2820','3467']) ).

cnf('3469',plain,
    ~ until251(s4),
    inference(resolution,[then_simplify],['3425','2884','3468']) ).

cnf('3470',plain,
    ~ node199(s4),
    inference(resolution,[],['1692','2919']) ).

cnf('3471',plain,
    ~ node255(s4),
    inference(resolution,[then_simplify],['3469','2889','3470']) ).

cnf('3472',plain,
    ~ until256(s4),
    inference(resolution,[then_simplify],['3423','2922','3471']) ).

cnf('3473',plain,
    ~ m_state_v_a1ext(c_s,s4,c_a1ip),
    inference(resolution,[],['667','1112']) ).

cnf('3474',plain,
    ~ node197(s4),
    inference(resolution,[],['3473','3125']) ).

cnf('3475',plain,
    ~ node260(s4),
    inference(resolution,[then_simplify],['3472','2927','3474']) ).

cnf('3476',plain,
    ~ until261(s4),
    inference(resolution,[then_simplify],['3421','2931','3475']) ).

cnf('3477',plain,
    ( $pr(loop)
    | ~ always194(X)
    | ~ last(X) ),
    inference(cnf_transformation,[],[prpty31]) ).

cnf('3478',plain,
    ( ~ always194(s9)
    | $pr(loop) ),
    inference(resolution,[],['3477','1813']) ).

cnf('3479',plain,
    ~ always194(s9),
    inference(resolution,[],['1811','3478']) ).

cnf('3480',plain,
    ( ~ trans(X,Y)
    | ~ always194(X)
    | always194(Y) ),
    inference(cnf_transformation,[],[prpty30]) ).

cnf('3481',plain,
    ( ~ always194(s8)
    | always194(s9) ),
    inference(resolution,[],['1287','3480']) ).

cnf('3482',plain,
    ~ always194(s8),
    inference(resolution,[],['3479','3481']) ).

cnf('3483',plain,
    ( ~ always194(s7)
    | always194(s8) ),
    inference(resolution,[],['1011','3480']) ).

cnf('3484',plain,
    ~ always194(s7),
    inference(resolution,[],['3482','3483']) ).

cnf('3485',plain,
    ( ~ always194(s6)
    | always194(s7) ),
    inference(resolution,[],['856','3480']) ).

cnf('3486',plain,
    ~ always194(s6),
    inference(resolution,[],['3484','3485']) ).

cnf('3487',plain,
    ( ~ always194(s5)
    | always194(s6) ),
    inference(resolution,[],['710','3480']) ).

cnf('3488',plain,
    ~ always194(s5),
    inference(resolution,[],['3486','3487']) ).

cnf('3489',plain,
    ( ~ always194(s4)
    | always194(s5) ),
    inference(resolution,[],['626','3480']) ).

cnf('3490',plain,
    ~ always194(s4),
    inference(resolution,[],['3488','3489']) ).

cnf('3491',plain,
    ( ~ node195(X)
    | always194(X) ),
    inference(cnf_transformation,[],[prpty35]) ).

cnf('3492',plain,
    ~ node195(s4),
    inference(resolution,[],['3490','3491']) ).

cnf('3493',plain,
    ~ node265(s4),
    inference(resolution,[then_simplify],['3476','2936','3492']) ).

cnf('3494',plain,
    ~ until266(s4),
    inference(resolution,[then_simplify],['3419','2940','3493']) ).

cnf('3495',plain,
    ( ~ m_state_v_a1ext(c_s,X,c_ot)
    | ~ m_state_v_A1M(c_s,X,c_extend)
    | ~ m_state_v_angle(c_s,X,c_arm1totable)
    | ~ always192(X) ),
    inference(cnf_transformation,[],[prpty21]) ).

cnf('3496',plain,
    ~ always192(s4),
    inference(resolution,[then_simplify],['792','3495','882','825']) ).

cnf('3497',plain,
    ~ node193(s4),
    inference(resolution,[],['3496','3140']) ).

cnf('3498',plain,
    ~ node270(s4),
    inference(resolution,[then_simplify],['3494','2945','3497']) ).

cnf('3499',plain,
    ~ until271(s4),
    inference(resolution,[then_simplify],['3417','2950','3498']) ).

cnf('3500',plain,
    ~ node191(s4),
    inference(resolution,[],['622','2961']) ).

cnf('3501',plain,
    ~ node275(s4),
    inference(resolution,[then_simplify],['3499','2955','3500']) ).

cnf('3502',plain,
    ~ until276(s4),
    inference(resolution,[then_simplify],['3415','2964','3501']) ).

cnf('3503',plain,
    ~ node189(s4),
    inference(resolution,[],['678','2970']) ).

cnf('3504',plain,
    ~ node280(s4),
    inference(resolution,[then_simplify],['3502','2969','3503']) ).

cnf('3505',plain,
    ~ until281(s4),
    inference(resolution,[then_simplify],['3413','2973','3504']) ).

cnf('3506',plain,
    ~ node187(s4),
    inference(resolution,[],['2128','3157']) ).

cnf('3507',plain,
    ~ node285(s4),
    inference(resolution,[then_simplify],['3505','2978','3506']) ).

cnf('3508',plain,
    ~ until286(s4),
    inference(resolution,[then_simplify],['3411','2985','3507']) ).

cnf('3509',plain,
    ( ~ xuntil287(s3)
    | until286(s4) ),
    inference(resolution,[],['2990','315']) ).

cnf('3510',plain,
    ~ xuntil287(s3),
    inference(resolution,[],['3508','3509']) ).

cnf('3511',plain,
    ( ~ xuntil282(s3)
    | until281(s4) ),
    inference(resolution,[],['2993','315']) ).

cnf('3512',plain,
    ~ xuntil282(s3),
    inference(resolution,[],['3505','3511']) ).

cnf('3513',plain,
    ( ~ xuntil277(s3)
    | until276(s4) ),
    inference(resolution,[],['2996','315']) ).

cnf('3514',plain,
    ~ xuntil277(s3),
    inference(resolution,[],['3502','3513']) ).

cnf('3515',plain,
    ( ~ xuntil272(s3)
    | until271(s4) ),
    inference(resolution,[],['2999','315']) ).

cnf('3516',plain,
    ~ xuntil272(s3),
    inference(resolution,[],['3499','3515']) ).

cnf('3517',plain,
    ( ~ xuntil267(s3)
    | until266(s4) ),
    inference(resolution,[],['3002','315']) ).

cnf('3518',plain,
    ~ xuntil267(s3),
    inference(resolution,[],['3494','3517']) ).

cnf('3519',plain,
    ( ~ xuntil262(s3)
    | until261(s4) ),
    inference(resolution,[],['3005','315']) ).

cnf('3520',plain,
    ~ xuntil262(s3),
    inference(resolution,[],['3476','3519']) ).

cnf('3521',plain,
    ( ~ xuntil257(s3)
    | until256(s4) ),
    inference(resolution,[],['3008','315']) ).

cnf('3522',plain,
    ~ xuntil257(s3),
    inference(resolution,[],['3472','3521']) ).

cnf('3523',plain,
    ( ~ xuntil252(s3)
    | until251(s4) ),
    inference(resolution,[],['3011','315']) ).

cnf('3524',plain,
    ~ xuntil252(s3),
    inference(resolution,[],['3469','3523']) ).

cnf('3525',plain,
    ( ~ xuntil247(s3)
    | until246(s4) ),
    inference(resolution,[],['3014','315']) ).

cnf('3526',plain,
    ~ xuntil247(s3),
    inference(resolution,[],['3466','3525']) ).

cnf('3527',plain,
    ( ~ xuntil242(s3)
    | until241(s4) ),
    inference(resolution,[],['3017','315']) ).

cnf('3528',plain,
    ~ xuntil242(s3),
    inference(resolution,[],['3461','3527']) ).

cnf('3529',plain,
    ( ~ xuntil237(s3)
    | until236(s4) ),
    inference(resolution,[],['3020','315']) ).

cnf('3530',plain,
    ~ xuntil237(s3),
    inference(resolution,[],['3458','3529']) ).

cnf('3531',plain,
    ( ~ xuntil232(s3)
    | until231(s4) ),
    inference(resolution,[],['3023','315']) ).

cnf('3532',plain,
    ~ xuntil232(s3),
    inference(resolution,[],['3453','3531']) ).

cnf('3533',plain,
    ( ~ xuntil227(s3)
    | until226(s4) ),
    inference(resolution,[],['3026','315']) ).

cnf('3534',plain,
    ~ xuntil227(s3),
    inference(resolution,[],['3448','3533']) ).

cnf('3535',plain,
    ( ~ xuntil222(s3)
    | until221(s4) ),
    inference(resolution,[],['3029','315']) ).

cnf('3536',plain,
    ~ xuntil222(s3),
    inference(resolution,[],['3445','3535']) ).

cnf('3537',plain,
    ( ~ xuntil217(s3)
    | until216(s4) ),
    inference(resolution,[],['3032','315']) ).

cnf('3538',plain,
    ~ xuntil217(s3),
    inference(resolution,[],['3442','3537']) ).

cnf('3539',plain,
    ~ node215(s3),
    inference(resolution,[],['1950','3440']) ).

cnf('3540',plain,
    ~ until216(s3),
    inference(resolution,[then_simplify],['3538','1816','3539']) ).

cnf('3541',plain,
    ~ node213(s3),
    inference(resolution,[],['2167','2634']) ).

cnf('3542',plain,
    ~ node220(s3),
    inference(resolution,[then_simplify],['3540','2544','3541']) ).

cnf('3543',plain,
    ~ until221(s3),
    inference(resolution,[then_simplify],['3536','2637','3542']) ).

cnf('3544',plain,
    ( m_state_v_DBM(c_s,X,c_run)
    | ~ node211(X) ),
    inference(cnf_transformation,[],[prpty84]) ).

cnf('3545',plain,
    ~ node211(s3),
    inference(resolution,[],['2439','3544']) ).

cnf('3546',plain,
    ~ node225(s3),
    inference(resolution,[then_simplify],['3543','2642','3545']) ).

cnf('3547',plain,
    ~ until226(s3),
    inference(resolution,[then_simplify],['3534','2668','3546']) ).

cnf('3548',plain,
    ( m_state_v_DBM(c_s,X,c_run)
    | ~ node209(X) ),
    inference(cnf_transformation,[],[prpty78]) ).

cnf('3549',plain,
    ~ node209(s3),
    inference(resolution,[],['2439','3548']) ).

cnf('3550',plain,
    ~ node230(s3),
    inference(resolution,[then_simplify],['3547','2673','3549']) ).

cnf('3551',plain,
    ~ until231(s3),
    inference(resolution,[then_simplify],['3532','2680','3550']) ).

cnf('3552',plain,
    ( m_state_v_a2ext(c_s,X,c_ob)
    | ~ node207(X) ),
    inference(cnf_transformation,[],[prpty73]) ).

cnf('3553',plain,
    ~ node207(s3),
    inference(resolution,[],['1155','3552']) ).

cnf('3554',plain,
    ~ node235(s3),
    inference(resolution,[then_simplify],['3551','2685','3553']) ).

cnf('3555',plain,
    ~ until236(s3),
    inference(resolution,[then_simplify],['3530','2689','3554']) ).

cnf('3556',plain,
    ~ node205(s3),
    inference(resolution,[],['1158','2800']) ).

cnf('3557',plain,
    ~ node240(s3),
    inference(resolution,[then_simplify],['3555','2694','3556']) ).

cnf('3558',plain,
    ~ until241(s3),
    inference(resolution,[then_simplify],['3528','2803','3557']) ).

cnf('3559',plain,
    ( ~ always202(s3)
    | always202(s4) ),
    inference(resolution,[],['316','3104']) ).

cnf('3560',plain,
    ~ always202(s3),
    inference(resolution,[],['3463','3559']) ).

cnf('3561',plain,
    ~ node203(s3),
    inference(resolution,[],['3560','2812']) ).

cnf('3562',plain,
    ~ node245(s3),
    inference(resolution,[then_simplify],['3558','2808','3561']) ).

cnf('3563',plain,
    ~ until246(s3),
    inference(resolution,[then_simplify],['3526','2815','3562']) ).

cnf('3564',plain,
    ~ node201(s3),
    inference(resolution,[],['1627','2881']) ).

cnf('3565',plain,
    ~ node250(s3),
    inference(resolution,[then_simplify],['3563','2820','3564']) ).

cnf('3566',plain,
    ~ until251(s3),
    inference(resolution,[then_simplify],['3524','2884','3565']) ).

cnf('3567',plain,
    ~ node199(s3),
    inference(resolution,[],['1571','2919']) ).

cnf('3568',plain,
    ~ node255(s3),
    inference(resolution,[then_simplify],['3566','2889','3567']) ).

cnf('3569',plain,
    ~ until256(s3),
    inference(resolution,[then_simplify],['3522','2922','3568']) ).

cnf('3570',plain,
    ~ node197(s3),
    inference(resolution,[],['747','3125']) ).

cnf('3571',plain,
    ~ node260(s3),
    inference(resolution,[then_simplify],['3569','2927','3570']) ).

cnf('3572',plain,
    ~ until261(s3),
    inference(resolution,[then_simplify],['3520','2931','3571']) ).

cnf('3573',plain,
    ~ node195(s3),
    inference(resolution,[],['752','3130']) ).

cnf('3574',plain,
    ~ node265(s3),
    inference(resolution,[then_simplify],['3572','2936','3573']) ).

cnf('3575',plain,
    ~ until266(s3),
    inference(resolution,[then_simplify],['3518','2940','3574']) ).

cnf('3576',plain,
    ( ~ always192(s3)
    | always192(s4) ),
    inference(resolution,[],['316','3137']) ).

cnf('3577',plain,
    ~ always192(s3),
    inference(resolution,[],['3496','3576']) ).

cnf('3578',plain,
    ~ node193(s3),
    inference(resolution,[],['3577','3140']) ).

cnf('3579',plain,
    ~ node270(s3),
    inference(resolution,[then_simplify],['3575','2945','3578']) ).

cnf('3580',plain,
    ~ until271(s3),
    inference(resolution,[then_simplify],['3516','2950','3579']) ).

cnf('3581',plain,
    ~ node191(s3),
    inference(resolution,[],['312','2961']) ).

cnf('3582',plain,
    ~ node275(s3),
    inference(resolution,[then_simplify],['3580','2955','3581']) ).

cnf('3583',plain,
    ~ until276(s3),
    inference(resolution,[then_simplify],['3514','2964','3582']) ).

cnf('3584',plain,
    ~ node189(s3),
    inference(resolution,[],['601','2970']) ).

cnf('3585',plain,
    ~ node280(s3),
    inference(resolution,[then_simplify],['3583','2969','3584']) ).

cnf('3586',plain,
    ~ until281(s3),
    inference(resolution,[then_simplify],['3512','2973','3585']) ).

cnf('3587',plain,
    ~ node187(s3),
    inference(resolution,[],['2105','3157']) ).

cnf('3588',plain,
    ~ node285(s3),
    inference(resolution,[then_simplify],['3586','2978','3587']) ).

cnf('3589',plain,
    ~ until286(s3),
    inference(resolution,[then_simplify],['3510','2985','3588']) ).

cnf('3590',plain,
    ( ~ xuntil287(s2)
    | until286(s3) ),
    inference(resolution,[],['2990','97']) ).

cnf('3591',plain,
    ~ xuntil287(s2),
    inference(resolution,[],['3589','3590']) ).

cnf('3592',plain,
    ( ~ xuntil282(s2)
    | until281(s3) ),
    inference(resolution,[],['2993','97']) ).

cnf('3593',plain,
    ~ xuntil282(s2),
    inference(resolution,[],['3586','3592']) ).

cnf('3594',plain,
    ( ~ xuntil277(s2)
    | until276(s3) ),
    inference(resolution,[],['2996','97']) ).

cnf('3595',plain,
    ~ xuntil277(s2),
    inference(resolution,[],['3583','3594']) ).

cnf('3596',plain,
    ( ~ xuntil272(s2)
    | until271(s3) ),
    inference(resolution,[],['2999','97']) ).

cnf('3597',plain,
    ~ xuntil272(s2),
    inference(resolution,[],['3580','3596']) ).

cnf('3598',plain,
    ( ~ xuntil267(s2)
    | until266(s3) ),
    inference(resolution,[],['3002','97']) ).

cnf('3599',plain,
    ~ xuntil267(s2),
    inference(resolution,[],['3575','3598']) ).

cnf('3600',plain,
    ( ~ xuntil262(s2)
    | until261(s3) ),
    inference(resolution,[],['3005','97']) ).

cnf('3601',plain,
    ~ xuntil262(s2),
    inference(resolution,[],['3572','3600']) ).

cnf('3602',plain,
    ( ~ xuntil257(s2)
    | until256(s3) ),
    inference(resolution,[],['3008','97']) ).

cnf('3603',plain,
    ~ xuntil257(s2),
    inference(resolution,[],['3569','3602']) ).

cnf('3604',plain,
    ( ~ xuntil252(s2)
    | until251(s3) ),
    inference(resolution,[],['3011','97']) ).

cnf('3605',plain,
    ~ xuntil252(s2),
    inference(resolution,[],['3566','3604']) ).

cnf('3606',plain,
    ( ~ xuntil247(s2)
    | until246(s3) ),
    inference(resolution,[],['3014','97']) ).

cnf('3607',plain,
    ~ xuntil247(s2),
    inference(resolution,[],['3563','3606']) ).

cnf('3608',plain,
    ( ~ xuntil242(s2)
    | until241(s3) ),
    inference(resolution,[],['3017','97']) ).

cnf('3609',plain,
    ~ xuntil242(s2),
    inference(resolution,[],['3558','3608']) ).

cnf('3610',plain,
    ( ~ xuntil237(s2)
    | until236(s3) ),
    inference(resolution,[],['3020','97']) ).

cnf('3611',plain,
    ~ xuntil237(s2),
    inference(resolution,[],['3555','3610']) ).

cnf('3612',plain,
    ( ~ xuntil232(s2)
    | until231(s3) ),
    inference(resolution,[],['3023','97']) ).

cnf('3613',plain,
    ~ xuntil232(s2),
    inference(resolution,[],['3551','3612']) ).

cnf('3614',plain,
    ( ~ xuntil227(s2)
    | until226(s3) ),
    inference(resolution,[],['3026','97']) ).

cnf('3615',plain,
    ~ xuntil227(s2),
    inference(resolution,[],['3547','3614']) ).

cnf('3616',plain,
    ( ~ xuntil222(s2)
    | until221(s3) ),
    inference(resolution,[],['3029','97']) ).

cnf('3617',plain,
    ~ xuntil222(s2),
    inference(resolution,[],['3543','3616']) ).

cnf('3618',plain,
    ( ~ xuntil217(s2)
    | until216(s3) ),
    inference(resolution,[],['3032','97']) ).

cnf('3619',plain,
    ~ xuntil217(s2),
    inference(resolution,[],['3540','3618']) ).

cnf('3620',plain,
    ~ node215(s2),
    inference(resolution,[],['1927','3440']) ).

cnf('3621',plain,
    ~ until216(s2),
    inference(resolution,[then_simplify],['3619','1816','3620']) ).

cnf('3622',plain,
    ( m_state_v_gvp(c_s,X,c_ovb)
    | ~ node213(X) ),
    inference(cnf_transformation,[],[prpty91]) ).

cnf('3623',plain,
    ~ node213(s2),
    inference(resolution,[],['1897','3622']) ).

cnf('3624',plain,
    ~ node220(s2),
    inference(resolution,[then_simplify],['3621','2544','3623']) ).

cnf('3625',plain,
    ~ until221(s2),
    inference(resolution,[then_simplify],['3617','2637','3624']) ).

cnf('3626',plain,
    ~ node211(s2),
    inference(resolution,[],['2434','2665']) ).

cnf('3627',plain,
    ~ node225(s2),
    inference(resolution,[then_simplify],['3625','2642','3626']) ).

cnf('3628',plain,
    ~ until226(s2),
    inference(resolution,[then_simplify],['3615','2668','3627']) ).

cnf('3629',plain,
    ~ node209(s2),
    inference(resolution,[],['2405','3548']) ).

cnf('3630',plain,
    ~ node230(s2),
    inference(resolution,[then_simplify],['3628','2673','3629']) ).

cnf('3631',plain,
    ~ until231(s2),
    inference(resolution,[then_simplify],['3613','2680','3630']) ).

cnf('3632',plain,
    ( m_state_v_A2M(c_s,X,c_extend)
    | ~ node207(X) ),
    inference(cnf_transformation,[],[prpty72]) ).

cnf('3633',plain,
    ~ node207(s2),
    inference(resolution,[],['919','3632']) ).

cnf('3634',plain,
    ~ node235(s2),
    inference(resolution,[then_simplify],['3631','2685','3633']) ).

cnf('3635',plain,
    ~ until236(s2),
    inference(resolution,[then_simplify],['3611','2689','3634']) ).

cnf('3636',plain,
    ( m_state_v_A2M(c_s,X,c_extend)
    | ~ node205(X) ),
    inference(cnf_transformation,[],[prpty65]) ).

cnf('3637',plain,
    ~ node205(s2),
    inference(resolution,[],['919','3636']) ).

cnf('3638',plain,
    ~ node240(s2),
    inference(resolution,[then_simplify],['3635','2694','3637']) ).

cnf('3639',plain,
    ~ until241(s2),
    inference(resolution,[then_simplify],['3609','2803','3638']) ).

cnf('3640',plain,
    ( ~ always202(s2)
    | always202(s3) ),
    inference(resolution,[],['98','3104']) ).

cnf('3641',plain,
    ~ always202(s2),
    inference(resolution,[],['3560','3640']) ).

cnf('3642',plain,
    ~ node203(s2),
    inference(resolution,[],['3641','2812']) ).

cnf('3643',plain,
    ~ node245(s2),
    inference(resolution,[then_simplify],['3639','2808','3642']) ).

cnf('3644',plain,
    ~ until246(s2),
    inference(resolution,[then_simplify],['3607','2815','3643']) ).

cnf('3645',plain,
    ~ node201(s2),
    inference(resolution,[],['1602','2881']) ).

cnf('3646',plain,
    ~ node250(s2),
    inference(resolution,[then_simplify],['3644','2820','3645']) ).

cnf('3647',plain,
    ~ until251(s2),
    inference(resolution,[then_simplify],['3605','2884','3646']) ).

cnf('3648',plain,
    ~ node199(s2),
    inference(resolution,[],['1565','2919']) ).

cnf('3649',plain,
    ~ node255(s2),
    inference(resolution,[then_simplify],['3647','2889','3648']) ).

cnf('3650',plain,
    ~ until256(s2),
    inference(resolution,[then_simplify],['3603','2922','3649']) ).

cnf('3651',plain,
    ( m_state_v_A1M(c_s,X,c_extend)
    | ~ node197(X) ),
    inference(cnf_transformation,[],[prpty40]) ).

cnf('3652',plain,
    ~ node197(s2),
    inference(resolution,[],['743','3651']) ).

cnf('3653',plain,
    ~ node260(s2),
    inference(resolution,[then_simplify],['3650','2927','3652']) ).

cnf('3654',plain,
    ~ until261(s2),
    inference(resolution,[then_simplify],['3601','2931','3653']) ).

cnf('3655',plain,
    ~ node195(s2),
    inference(resolution,[],['743','3309']) ).

cnf('3656',plain,
    ~ node265(s2),
    inference(resolution,[then_simplify],['3654','2936','3655']) ).

cnf('3657',plain,
    ~ until266(s2),
    inference(resolution,[then_simplify],['3599','2940','3656']) ).

cnf('3658',plain,
    ( ~ node168(c_s,s1,X)
    | ~ m_state_v_TRM(c_s,X,c_idle) ),
    inference(resolution,[],['71','697']) ).

cnf('3659',plain,
    ~ m_state_v_TRM(c_s,s2,c_idle),
    inference(resolution,[],['306','3658']) ).

cnf('3660',plain,
    ( m_state_v_TRM(c_s,X,c_idle)
    | ~ node193(X) ),
    inference(cnf_transformation,[],[prpty27]) ).

cnf('3661',plain,
    ~ node193(s2),
    inference(resolution,[],['3659','3660']) ).

cnf('3662',plain,
    ~ node270(s2),
    inference(resolution,[then_simplify],['3657','2945','3661']) ).

cnf('3663',plain,
    ~ until271(s2),
    inference(resolution,[then_simplify],['3597','2950','3662']) ).

cnf('3664',plain,
    ~ node191(s2),
    inference(resolution,[],['93','2961']) ).

cnf('3665',plain,
    ~ node275(s2),
    inference(resolution,[then_simplify],['3663','2955','3664']) ).

cnf('3666',plain,
    ~ until276(s2),
    inference(resolution,[then_simplify],['3595','2964','3665']) ).

cnf('3667',plain,
    ~ node189(s2),
    inference(resolution,[],['156','2970']) ).

cnf('3668',plain,
    ~ node280(s2),
    inference(resolution,[then_simplify],['3666','2969','3667']) ).

cnf('3669',plain,
    ~ until281(s2),
    inference(resolution,[then_simplify],['3593','2973','3668']) ).

cnf('3670',plain,
    ~ node187(s2),
    inference(resolution,[],['1972','3157']) ).

cnf('3671',plain,
    ~ node285(s2),
    inference(resolution,[then_simplify],['3669','2978','3670']) ).

cnf('3672',plain,
    ~ until286(s2),
    inference(resolution,[then_simplify],['3591','2985','3671']) ).

cnf('3673',plain,
    ( ~ xuntil287(s1)
    | until286(s2) ),
    inference(resolution,[],['2990','19']) ).

cnf('3674',plain,
    ~ xuntil287(s1),
    inference(resolution,[],['3672','3673']) ).

cnf('3675',plain,
    ( ~ xuntil282(s1)
    | until281(s2) ),
    inference(resolution,[],['2993','19']) ).

cnf('3676',plain,
    ~ xuntil282(s1),
    inference(resolution,[],['3669','3675']) ).

cnf('3677',plain,
    ( ~ xuntil277(s1)
    | until276(s2) ),
    inference(resolution,[],['2996','19']) ).

cnf('3678',plain,
    ~ xuntil277(s1),
    inference(resolution,[],['3666','3677']) ).

cnf('3679',plain,
    ( ~ xuntil272(s1)
    | until271(s2) ),
    inference(resolution,[],['2999','19']) ).

cnf('3680',plain,
    ~ xuntil272(s1),
    inference(resolution,[],['3663','3679']) ).

cnf('3681',plain,
    ( ~ xuntil267(s1)
    | until266(s2) ),
    inference(resolution,[],['3002','19']) ).

cnf('3682',plain,
    ~ xuntil267(s1),
    inference(resolution,[],['3657','3681']) ).

cnf('3683',plain,
    ( ~ xuntil262(s1)
    | until261(s2) ),
    inference(resolution,[],['3005','19']) ).

cnf('3684',plain,
    ~ xuntil262(s1),
    inference(resolution,[],['3654','3683']) ).

cnf('3685',plain,
    ( ~ xuntil257(s1)
    | until256(s2) ),
    inference(resolution,[],['3008','19']) ).

cnf('3686',plain,
    ~ xuntil257(s1),
    inference(resolution,[],['3650','3685']) ).

cnf('3687',plain,
    ( ~ xuntil252(s1)
    | until251(s2) ),
    inference(resolution,[],['3011','19']) ).

cnf('3688',plain,
    ~ xuntil252(s1),
    inference(resolution,[],['3647','3687']) ).

cnf('3689',plain,
    ( ~ xuntil247(s1)
    | until246(s2) ),
    inference(resolution,[],['3014','19']) ).

cnf('3690',plain,
    ~ xuntil247(s1),
    inference(resolution,[],['3644','3689']) ).

cnf('3691',plain,
    ( ~ xuntil242(s1)
    | until241(s2) ),
    inference(resolution,[],['3017','19']) ).

cnf('3692',plain,
    ~ xuntil242(s1),
    inference(resolution,[],['3639','3691']) ).

cnf('3693',plain,
    ( ~ xuntil237(s1)
    | until236(s2) ),
    inference(resolution,[],['3020','19']) ).

cnf('3694',plain,
    ~ xuntil237(s1),
    inference(resolution,[],['3635','3693']) ).

cnf('3695',plain,
    ( ~ xuntil232(s1)
    | until231(s2) ),
    inference(resolution,[],['3023','19']) ).

cnf('3696',plain,
    ~ xuntil232(s1),
    inference(resolution,[],['3631','3695']) ).

cnf('3697',plain,
    ( ~ xuntil227(s1)
    | until226(s2) ),
    inference(resolution,[],['3026','19']) ).

cnf('3698',plain,
    ~ xuntil227(s1),
    inference(resolution,[],['3628','3697']) ).

cnf('3699',plain,
    ( ~ xuntil222(s1)
    | until221(s2) ),
    inference(resolution,[],['3029','19']) ).

cnf('3700',plain,
    ~ xuntil222(s1),
    inference(resolution,[],['3625','3699']) ).

cnf('3701',plain,
    ( ~ xuntil217(s1)
    | until216(s2) ),
    inference(resolution,[],['3032','19']) ).

cnf('3702',plain,
    ~ xuntil217(s1),
    inference(resolution,[],['3621','3701']) ).

cnf('3703',plain,
    ( m_state_v_gof(c_s,X)
    | ~ node215(X) ),
    inference(cnf_transformation,[],[prpty102]) ).

cnf('3704',plain,
    ~ node215(s1),
    inference(resolution,[],['1869','3703']) ).

cnf('3705',plain,
    ~ until216(s1),
    inference(resolution,[then_simplify],['3702','1816','3704']) ).

cnf('3706',plain,
    ( m_state_v_CVM(c_s,X,c_idle)
    | ~ node213(X) ),
    inference(cnf_transformation,[],[prpty93]) ).

cnf('3707',plain,
    ~ node213(s1),
    inference(resolution,[],['1876','3706']) ).

cnf('3708',plain,
    ~ node220(s1),
    inference(resolution,[then_simplify],['3705','2544','3707']) ).

cnf('3709',plain,
    ~ until221(s1),
    inference(resolution,[then_simplify],['3700','2637','3708']) ).

cnf('3710',plain,
    ~ node211(s1),
    inference(resolution,[],['2389','2665']) ).

cnf('3711',plain,
    ~ node225(s1),
    inference(resolution,[then_simplify],['3709','2642','3710']) ).

cnf('3712',plain,
    ~ until226(s1),
    inference(resolution,[then_simplify],['3698','2668','3711']) ).

cnf('3713',plain,
    ~ node209(s1),
    inference(resolution,[],['2404','3548']) ).

cnf('3714',plain,
    ~ node230(s1),
    inference(resolution,[then_simplify],['3712','2673','3713']) ).

cnf('3715',plain,
    ~ until231(s1),
    inference(resolution,[then_simplify],['3696','2680','3714']) ).

cnf('3716',plain,
    ~ node207(s1),
    inference(resolution,[],['411','3552']) ).

cnf('3717',plain,
    ~ node235(s1),
    inference(resolution,[then_simplify],['3715','2685','3716']) ).

cnf('3718',plain,
    ~ until236(s1),
    inference(resolution,[then_simplify],['3694','2689','3717']) ).

cnf('3719',plain,
    ~ node205(s1),
    inference(resolution,[],['415','2800']) ).

cnf('3720',plain,
    ~ node240(s1),
    inference(resolution,[then_simplify],['3718','2694','3719']) ).

cnf('3721',plain,
    ~ until241(s1),
    inference(resolution,[then_simplify],['3692','2803','3720']) ).

cnf('3722',plain,
    ( ~ always202(s1)
    | always202(s2) ),
    inference(resolution,[],['20','3104']) ).

cnf('3723',plain,
    ~ always202(s1),
    inference(resolution,[],['3641','3722']) ).

cnf('3724',plain,
    ~ node203(s1),
    inference(resolution,[],['3723','2812']) ).

cnf('3725',plain,
    ~ node245(s1),
    inference(resolution,[then_simplify],['3721','2808','3724']) ).

cnf('3726',plain,
    ~ until246(s1),
    inference(resolution,[then_simplify],['3690','2815','3725']) ).

cnf('3727',plain,
    ~ node201(s1),
    inference(resolution,[],['1531','2881']) ).

cnf('3728',plain,
    ~ node250(s1),
    inference(resolution,[then_simplify],['3726','2820','3727']) ).

cnf('3729',plain,
    ~ until251(s1),
    inference(resolution,[then_simplify],['3688','2884','3728']) ).

cnf('3730',plain,
    ~ node199(s1),
    inference(resolution,[],['261','2919']) ).

cnf('3731',plain,
    ~ node255(s1),
    inference(resolution,[then_simplify],['3729','2889','3730']) ).

cnf('3732',plain,
    ~ until256(s1),
    inference(resolution,[then_simplify],['3686','2922','3731']) ).

cnf('3733',plain,
    ~ node197(s1),
    inference(resolution,[],['236','3125']) ).

cnf('3734',plain,
    ~ node260(s1),
    inference(resolution,[then_simplify],['3732','2927','3733']) ).

cnf('3735',plain,
    ~ until261(s1),
    inference(resolution,[then_simplify],['3684','2931','3734']) ).

cnf('3736',plain,
    ~ node195(s1),
    inference(resolution,[],['239','3130']) ).

cnf('3737',plain,
    ~ node265(s1),
    inference(resolution,[then_simplify],['3735','2936','3736']) ).

cnf('3738',plain,
    ~ until266(s1),
    inference(resolution,[then_simplify],['3682','2940','3737']) ).

cnf('3739',plain,
    ( m_state_v_topPos(c_s,X)
    | ~ node193(X) ),
    inference(cnf_transformation,[],[prpty24]) ).

cnf('3740',plain,
    ~ node193(s1),
    inference(resolution,[],['61','3739']) ).

cnf('3741',plain,
    ~ node270(s1),
    inference(resolution,[then_simplify],['3738','2945','3740']) ).

cnf('3742',plain,
    ~ until271(s1),
    inference(resolution,[then_simplify],['3680','2950','3741']) ).

cnf('3743',plain,
    ( m_state_v_TRM(c_s,X,c_idle)
    | ~ node191(X) ),
    inference(cnf_transformation,[],[prpty19]) ).

cnf('3744',plain,
    ~ node191(s1),
    inference(resolution,[],['71','3743']) ).

cnf('3745',plain,
    ~ node275(s1),
    inference(resolution,[then_simplify],['3742','2955','3744']) ).

cnf('3746',plain,
    ~ until276(s1),
    inference(resolution,[then_simplify],['3678','2964','3745']) ).

cnf('3747',plain,
    ~ m_state_v_deliv(c_s,s1),
    inference(resolution,[],['153','154']) ).

cnf('3748',plain,
    ~ node189(s1),
    inference(resolution,[],['3747','2970']) ).

cnf('3749',plain,
    ~ node280(s1),
    inference(resolution,[then_simplify],['3746','2969','3748']) ).

cnf('3750',plain,
    ~ until281(s1),
    inference(resolution,[then_simplify],['3676','2973','3749']) ).

cnf('3751',plain,
    ~ node187(s1),
    inference(resolution,[],['1965','3157']) ).

cnf('3752',plain,
    ~ node285(s1),
    inference(resolution,[then_simplify],['3750','2978','3751']) ).

cnf('3753',plain,
    ~ until286(s1),
    inference(resolution,[then_simplify],['3674','2985','3752']) ).

cnf('3754',plain,
    ( ~ xuntil287(s0)
    | until286(s1) ),
    inference(resolution,[],['2990','6']) ).

cnf('3755',plain,
    ~ xuntil287(s0),
    inference(resolution,[],['3753','3754']) ).

cnf('3756',plain,
    until286(s0),
    inference(cnf_transformation,[],[prpty223]) ).

cnf('3757',plain,
    ( ~ xuntil282(s0)
    | until281(s1) ),
    inference(resolution,[],['2993','6']) ).

cnf('3758',plain,
    ~ xuntil282(s0),
    inference(resolution,[],['3750','3757']) ).

cnf('3759',plain,
    ( ~ xuntil277(s0)
    | until276(s1) ),
    inference(resolution,[],['2996','6']) ).

cnf('3760',plain,
    ~ xuntil277(s0),
    inference(resolution,[],['3746','3759']) ).

cnf('3761',plain,
    ( ~ xuntil272(s0)
    | until271(s1) ),
    inference(resolution,[],['2999','6']) ).

cnf('3762',plain,
    ~ xuntil272(s0),
    inference(resolution,[],['3742','3761']) ).

cnf('3763',plain,
    ( ~ xuntil267(s0)
    | until266(s1) ),
    inference(resolution,[],['3002','6']) ).

cnf('3764',plain,
    ~ xuntil267(s0),
    inference(resolution,[],['3738','3763']) ).

cnf('3765',plain,
    ( ~ xuntil262(s0)
    | until261(s1) ),
    inference(resolution,[],['3005','6']) ).

cnf('3766',plain,
    ~ xuntil262(s0),
    inference(resolution,[],['3735','3765']) ).

cnf('3767',plain,
    ( ~ xuntil257(s0)
    | until256(s1) ),
    inference(resolution,[],['3008','6']) ).

cnf('3768',plain,
    ~ xuntil257(s0),
    inference(resolution,[],['3732','3767']) ).

cnf('3769',plain,
    ( ~ xuntil252(s0)
    | until251(s1) ),
    inference(resolution,[],['3011','6']) ).

cnf('3770',plain,
    ~ xuntil252(s0),
    inference(resolution,[],['3729','3769']) ).

cnf('3771',plain,
    ( ~ xuntil247(s0)
    | until246(s1) ),
    inference(resolution,[],['3014','6']) ).

cnf('3772',plain,
    ~ xuntil247(s0),
    inference(resolution,[],['3726','3771']) ).

cnf('3773',plain,
    ( ~ xuntil242(s0)
    | until241(s1) ),
    inference(resolution,[],['3017','6']) ).

cnf('3774',plain,
    ~ xuntil242(s0),
    inference(resolution,[],['3721','3773']) ).

cnf('3775',plain,
    ( ~ xuntil237(s0)
    | until236(s1) ),
    inference(resolution,[],['3020','6']) ).

cnf('3776',plain,
    ~ xuntil237(s0),
    inference(resolution,[],['3718','3775']) ).

cnf('3777',plain,
    ( ~ xuntil232(s0)
    | until231(s1) ),
    inference(resolution,[],['3023','6']) ).

cnf('3778',plain,
    ~ xuntil232(s0),
    inference(resolution,[],['3715','3777']) ).

cnf('3779',plain,
    ( ~ xuntil227(s0)
    | until226(s1) ),
    inference(resolution,[],['3026','6']) ).

cnf('3780',plain,
    ~ xuntil227(s0),
    inference(resolution,[],['3712','3779']) ).

cnf('3781',plain,
    ( ~ xuntil222(s0)
    | until221(s1) ),
    inference(resolution,[],['3029','6']) ).

cnf('3782',plain,
    ~ xuntil222(s0),
    inference(resolution,[],['3709','3781']) ).

cnf('3783',plain,
    ( ~ xuntil217(s0)
    | until216(s1) ),
    inference(resolution,[],['3032','6']) ).

cnf('3784',plain,
    ~ xuntil217(s0),
    inference(resolution,[],['3705','3783']) ).

cnf('3785',plain,
    ~ node215(s0),
    inference(resolution,[],['3703','1829']) ).

cnf('3786',plain,
    ~ until216(s0),
    inference(resolution,[then_simplify],['3784','1816','3785']) ).

cnf('3787',plain,
    ( m_state_v_CMag(c_s,X,c_off)
    | ~ node213(X) ),
    inference(cnf_transformation,[],[prpty94]) ).

cnf('3788',plain,
    ~ node213(s0),
    inference(resolution,[],['1849','3787']) ).

cnf('3789',plain,
    ~ node220(s0),
    inference(resolution,[then_simplify],['3786','2544','3788']) ).

cnf('3790',plain,
    ~ until221(s0),
    inference(resolution,[then_simplify],['3782','2637','3789']) ).

cnf('3791',plain,
    ~ node211(s0),
    inference(resolution,[],['2665','2365']) ).

cnf('3792',plain,
    ~ node225(s0),
    inference(resolution,[then_simplify],['3790','2642','3791']) ).

cnf('3793',plain,
    ~ until226(s0),
    inference(resolution,[then_simplify],['3780','2668','3792']) ).

cnf('3794',plain,
    ~ node209(s0),
    inference(resolution,[],['2402','3548']) ).

cnf('3795',plain,
    ~ node230(s0),
    inference(resolution,[then_simplify],['3793','2673','3794']) ).

cnf('3796',plain,
    ~ until231(s0),
    inference(resolution,[then_simplify],['3778','2680','3795']) ).

cnf('3797',plain,
    ~ node207(s0),
    inference(resolution,[],['396','3632']) ).

cnf('3798',plain,
    ~ node235(s0),
    inference(resolution,[then_simplify],['3796','2685','3797']) ).

cnf('3799',plain,
    ~ until236(s0),
    inference(resolution,[then_simplify],['3776','2689','3798']) ).

cnf('3800',plain,
    ~ node205(s0),
    inference(resolution,[],['396','3636']) ).

cnf('3801',plain,
    ~ node240(s0),
    inference(resolution,[then_simplify],['3799','2694','3800']) ).

cnf('3802',plain,
    ~ until241(s0),
    inference(resolution,[then_simplify],['3774','2803','3801']) ).

cnf('3803',plain,
    ( ~ always202(s0)
    | always202(s1) ),
    inference(resolution,[],['7','3104']) ).

cnf('3804',plain,
    ~ always202(s0),
    inference(resolution,[],['3723','3803']) ).

cnf('3805',plain,
    ~ node203(s0),
    inference(resolution,[],['3804','2812']) ).

cnf('3806',plain,
    ~ node245(s0),
    inference(resolution,[then_simplify],['3802','2808','3805']) ).

cnf('3807',plain,
    ~ until246(s0),
    inference(resolution,[then_simplify],['3772','2815','3806']) ).

cnf('3808',plain,
    ~ node201(s0),
    inference(resolution,[],['2881','1505']) ).

cnf('3809',plain,
    ~ node250(s0),
    inference(resolution,[then_simplify],['3807','2820','3808']) ).

cnf('3810',plain,
    ~ until251(s0),
    inference(resolution,[then_simplify],['3770','2884','3809']) ).

cnf('3811',plain,
    ~ node199(s0),
    inference(resolution,[],['2919','185']) ).

cnf('3812',plain,
    ~ node255(s0),
    inference(resolution,[then_simplify],['3810','2889','3811']) ).

cnf('3813',plain,
    ~ until256(s0),
    inference(resolution,[then_simplify],['3768','2922','3812']) ).

cnf('3814',plain,
    ~ node197(s0),
    inference(resolution,[],['179','3651']) ).

cnf('3815',plain,
    ~ node260(s0),
    inference(resolution,[then_simplify],['3813','2927','3814']) ).

cnf('3816',plain,
    ~ until261(s0),
    inference(resolution,[then_simplify],['3766','2931','3815']) ).

cnf('3817',plain,
    ~ node195(s0),
    inference(resolution,[],['179','3309']) ).

cnf('3818',plain,
    ~ node265(s0),
    inference(resolution,[then_simplify],['3816','2936','3817']) ).

cnf('3819',plain,
    ~ until266(s0),
    inference(resolution,[then_simplify],['3764','2940','3818']) ).

cnf('3820',plain,
    ~ node193(s0),
    inference(resolution,[],['3739','59']) ).

cnf('3821',plain,
    ~ node270(s0),
    inference(resolution,[then_simplify],['3819','2945','3820']) ).

cnf('3822',plain,
    ~ until271(s0),
    inference(resolution,[then_simplify],['3762','2950','3821']) ).

cnf('3823',plain,
    ( ~ m_state_v_TRM(c_s,X,c_idle)
    | ~ m_state_v_TEM(c_s,X,c_idle)
    | ~ m_state_v_maxRot(c_s,X)
    | ~ m_state_v_topPos(c_s,X)
    | ~ always190(X) ),
    inference(cnf_transformation,[],[prpty13]) ).

cnf('3824',plain,
    m_state_v_TRM(c_s,s3,c_idle),
    inference(resolution,[],['611','612']) ).

cnf('3825',plain,
    ~ always190(s3),
    inference(resolution,[then_simplify],['100','3823','3824','1066','1091']) ).

cnf('3826',plain,
    ( ~ trans(X,Y)
    | ~ always190(X)
    | always190(Y) ),
    inference(cnf_transformation,[],[prpty14]) ).

cnf('3827',plain,
    ( ~ always190(s2)
    | always190(s3) ),
    inference(resolution,[],['98','3826']) ).

cnf('3828',plain,
    ~ always190(s2),
    inference(resolution,[],['3825','3827']) ).

cnf('3829',plain,
    ( ~ always190(s1)
    | always190(s2) ),
    inference(resolution,[],['20','3826']) ).

cnf('3830',plain,
    ~ always190(s1),
    inference(resolution,[],['3828','3829']) ).

cnf('3831',plain,
    ( ~ always190(s0)
    | always190(s1) ),
    inference(resolution,[],['7','3826']) ).

cnf('3832',plain,
    ~ always190(s0),
    inference(resolution,[],['3830','3831']) ).

cnf('3833',plain,
    ( ~ node191(X)
    | always190(X) ),
    inference(cnf_transformation,[],[prpty20]) ).

cnf('3834',plain,
    ~ node191(s0),
    inference(resolution,[],['3832','3833']) ).

cnf('3835',plain,
    ~ node275(s0),
    inference(resolution,[then_simplify],['3822','2955','3834']) ).

cnf('3836',plain,
    ~ until276(s0),
    inference(resolution,[then_simplify],['3760','2964','3835']) ).

cnf('3837',plain,
    ~ node189(s0),
    inference(resolution,[],['2970','30']) ).

cnf('3838',plain,
    ~ node280(s0),
    inference(resolution,[then_simplify],['3836','2969','3837']) ).

cnf('3839',plain,
    ~ until281(s0),
    inference(resolution,[then_simplify],['3758','2973','3838']) ).

cnf('3840',plain,
    ~ node187(s0),
    inference(resolution,[],['124','3157']) ).

cnf('3841',plain,
    ~ node285(s0),
    inference(resolution,[then_simplify],['3839','2978','3840']) ).

cnf('3842',plain,
    $false,
    inference(resolution,[then_simplify],['3755','2985','3756','3841']) ).


%------------------------------------------------------------------------------
%----ORIGINAL SYSTEM OUTPUT
% 0.00/0.12  % Problem  : SWV423-1.010 : TPTP v8.1.2. Released v3.5.0.
% 0.00/0.13  % Command  : gkc %s
% 0.16/0.34  % Computer : n015.cluster.edu
% 0.16/0.34  % Model    : x86_64 x86_64
% 0.16/0.34  % CPU      : Intel(R) Xeon(R) CPU E5-2620 v4 @ 2.10GHz
% 0.16/0.34  % Memory   : 8042.1875MB
% 0.16/0.34  % OS       : Linux 3.10.0-693.el7.x86_64
% 0.16/0.34  % CPULimit : 300
% 0.16/0.34  % WCLimit  : 300
% 0.16/0.34  % DateTime : Tue Aug 29 06:10:40 EDT 2023
% 0.16/0.34  % CPUTime  : 
% 0.20/0.41  
% 0.20/0.41  input clause set summed statistics:
% 0.20/0.41  ----------------------------------
% 0.20/0.41  in_clause_count:                  1010
% 0.20/0.41  in_rule_clause_count:              963
% 0.20/0.41  in_fact_clause_count:               47
% 0.20/0.41  in_answer_clause_count:              0
% 0.20/0.41  in_ground_clause_count:             20
% 0.20/0.41  in_unit_clause_count:               58
% 0.20/0.41  in_horn_clause_count:              827
% 0.20/0.41  in_pos_clause_count:                67
% 0.20/0.41  in_neg_clause_count:               125
% 0.20/0.41  in_poseq_clause_count:               0
% 0.20/0.41  in_negeq_clause_count:               0
% 0.20/0.41  in_unitposeq_clause_count:           0
% 0.20/0.41  in_chain_clause_count:              15
% 0.20/0.41  in_min_length:             1
% 0.20/0.41  in_max_length:            48
% 0.20/0.41  in_min_depth:              1
% 0.20/0.41  in_max_depth:              1
% 0.20/0.41  in_min_size:               2
% 0.20/0.41  in_max_size:             145
% 0.20/0.41  in_min_vars:               0
% 0.20/0.41  in_max_vars:               4
% 0.20/0.41  in_extaxiom_count:                 0
% 0.20/0.41  in_axiom_count:                  787
% 0.20/0.41  in_assumption_count:               0
% 0.20/0.41  in_goal_count:                   223
% 0.20/0.41  in_neg_goal_count:                30
% 0.20/0.41  in_pos_goal_count:                 1
% 0.20/0.41  in_posunit_goal_count:             1
% 0.20/0.41  
% 0.20/0.41  auto guide:
% 0.20/0.41  -----------
% 0.20/0.41  {
% 0.20/0.41  "print":1,
% 0.20/0.41  "print_level": 15,
% 0.20/0.41  "max_size": 0,
% 0.20/0.41  "max_depth": 0,
% 0.20/0.41  "max_length": 0,
% 0.20/0.41  "max_dseconds": 0,
% 0.20/0.41  "equality":0,
% 0.20/0.41  "runs":[
% 0.20/0.41  {"max_dseconds":1, "strategy":["negative_pref"],  "weight_select_ratio":100, "query_preference":0},
% 0.20/0.41  {"max_dseconds":1, "strategy":["hardness_pref"],  "weight_select_ratio":100, "query_preference":0},
% 0.20/0.41  {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":0, "weight_select_ratio":100, "depth_penalty":100, "length_penalty":100},
% 0.20/0.41  {"max_dseconds":1, "strategy":["unit"],  "weight_select_ratio":100, "query_preference":0},
% 0.20/0.41  {"max_dseconds":1, "strategy":["negative_pref"],  "weight_select_ratio":100, "query_preference":0, "var_weight":70, "repeat_var_weight":70},
% 0.20/0.41  {"max_dseconds":1, "strategy":["unit"], "query_preference":0, "weight_select_ratio":100, "depth_penalty":100, "length_penalty":100},
% 0.20/0.41  {"max_dseconds":1, "sine":5, "strategy":["negative_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":1, "sine":5, "strategy":["hardness_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":1, "sine":5, "strategy":["unit"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus"], "query_preference":2},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus", "unit"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus", "max_ground_weight"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus", "unit"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus", "positive_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus", "unit"], "query_preference":2},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus"], "query_preference":3},
% 0.20/0.41  {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":1, "strategy":["hardness_pref"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":1, "sine":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":2, "sine":2},
% 0.20/0.41  {"max_dseconds":1, "strategy":["hardness_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus"], "query_preference":1, "var_weight":1, "weight_select_ratio":100, "repeat_var_weight":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus", "unit"], "query_preference":1, "sine":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus", "double"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["unit"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":0, "sine":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["unit"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["hardness_pref"], "query_preference":2},
% 0.20/0.41  {"max_dseconds":1, "strategy":["hardness_pref"], "query_preference":0, "weight_select_ratio":20, "depth_penalty":50, "length_penalty":100},
% 0.20/0.41  {"max_dseconds":1, "strategy":["hardness_pref", "max_ground_weight"], "query_preference":0},
% 0.20/0.41  {"length_penalty":100, "query_preference":0, "strategy":["negative_pref"], "max_dseconds":1},
% 0.20/0.41  {"strategy":["hardness_pref", "max_weight"], "length_penalty":100, "depth_penalty":50, "max_depth":3, "var_weight":10, "repeat_var_weight":10, "max_dseconds":1},
% 0.20/0.41  {"sine":2, "var_weight":70, "repeat_var_weight":70, "max_depth":0, "length_penalty":100, "query_preference":2, "strategy":["unit"], "max_dseconds":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["positive_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus"], "query_preference":1, "depth_penalty":100},
% 0.20/0.41  {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":1, "sine":2},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus", "positive_pref"], "query_preference":1},
% 0.20/0.41  {"var_weight":70, "repeat_var_weight":70, "max_depth":3, "query_preference":0, "strategy":["negative_pref"], "max_dseconds":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["unit"], "query_preference":1, "reverse_clauselist":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["unit"], "query_preference":0, "sine":2},
% 0.20/0.41  {"max_dseconds":1, "strategy":["unit", "posunitpara"], "query_preference":0, "sine":2},
% 0.20/0.41  {"max_dseconds":1, "strategy":["query_focus"], "query_preference":1, "var_weight":1, "repeat_var_weight":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":1, "var_weight":1, "repeat_var_weight":1},
% 0.20/0.41  {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":0, "weight_select_ratio":100, "depth_penalty":100, "length_penalty":100},
% 0.20/0.41  {"max_dseconds":1, "strategy":["unit"], "query_preference":0, "var_weight":1, "depth_penalty":100, "repeat_var_weight":1},
% 0.20/0.41  {"weight_select_ratio":100, "length_penalty":100, "query_preference":1, "strategy":["query_focus"], "max_dseconds":1},
% 0.20/0.41  
% 0.20/0.41  {"max_dseconds":10, "strategy":["negative_pref"],  "weight_select_ratio":100, "query_preference":0},
% 0.20/0.41  {"max_dseconds":10, "strategy":["hardness_pref"],  "weight_select_ratio":100, "query_preference":0},
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% 0.20/0.41  {"max_dseconds":10, "strategy":["unit"],  "weight_select_ratio":100, "query_preference":0},
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% 0.20/0.41  {"max_dseconds":10, "strategy":["query_focus"], "query_preference":1, "var_weight":1, "weight_select_ratio":100, "repeat_var_weight":1},
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% 0.20/0.41  {"max_dseconds":10, "strategy":["unit"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":10, "strategy":["negative_pref"], "query_preference":0, "sine":1},
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% 0.20/0.41  {"max_dseconds":10, "strategy":["hardness_pref"], "query_preference":2},
% 0.20/0.41  {"max_dseconds":10, "strategy":["hardness_pref"], "query_preference":0, "weight_select_ratio":20, "depth_penalty":50, "length_penalty":100},
% 0.20/0.41  {"max_dseconds":10, "strategy":["hardness_pref", "max_ground_weight"], "query_preference":0},
% 0.20/0.41  {"length_penalty":100, "query_preference":0, "strategy":["negative_pref"], "max_dseconds":10},
% 0.20/0.41  {"strategy":["hardness_pref", "max_weight"], "length_penalty":100, "depth_penalty":50, "max_depth":3, "var_weight":10, "repeat_var_weight":10, "max_dseconds":10},
% 0.20/0.41  {"sine":2, "var_weight":70, "repeat_var_weight":70, "max_depth":0, "length_penalty":100, "query_preference":2, "strategy":["unit"], "max_dseconds":10},
% 0.20/0.41  {"max_dseconds":10, "strategy":["positive_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":10, "strategy":["query_focus"], "query_preference":1, "depth_penalty":100},
% 0.20/0.41  {"max_dseconds":10, "strategy":["negative_pref"], "query_preference":1, "sine":2},
% 0.20/0.41  {"max_dseconds":10, "strategy":["query_focus", "positive_pref"], "query_preference":1},
% 0.20/0.41  {"var_weight":70, "repeat_var_weight":70, "max_depth":3, "query_preference":0, "strategy":["negative_pref"], "max_dseconds":10},
% 0.20/0.41  {"max_dseconds":10, "strategy":["unit"], "query_preference":1, "reverse_clauselist":1},
% 0.20/0.41  {"max_dseconds":10, "strategy":["unit"], "query_preference":0, "sine":2},
% 0.20/0.41  {"max_dseconds":10, "strategy":["unit", "posunitpara"], "query_preference":0, "sine":2},
% 0.20/0.41  {"max_dseconds":10, "strategy":["query_focus"], "query_preference":1, "var_weight":1, "repeat_var_weight":1},
% 0.20/0.41  {"max_dseconds":10, "strategy":["negative_pref"], "query_preference":1, "var_weight":1, "repeat_var_weight":1},
% 0.20/0.41  {"max_dseconds":10, "strategy":["negative_pref"], "query_preference":0, "weight_select_ratio":100, "depth_penalty":100, "length_penalty":100},
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% 0.20/0.41  {"max_dseconds":50, "strategy":["negative_pref"], "query_preference":0, "weight_select_ratio":100, "depth_penalty":100, "length_penalty":100},
% 0.20/0.41  {"max_dseconds":50, "strategy":["unit"],  "weight_select_ratio":100, "query_preference":0},
% 0.20/0.41  {"max_dseconds":50, "strategy":["negative_pref"],  "weight_select_ratio":100, "query_preference":0, "var_weight":70, "repeat_var_weight":70},
% 0.20/0.41  {"max_dseconds":50, "strategy":["unit"], "query_preference":0, "weight_select_ratio":100, "depth_penalty":100, "length_penalty":100},
% 0.20/0.41  {"max_dseconds":50, "sine":5, "strategy":["negative_pref"], "query_preference":0},
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% 0.20/0.41  {"max_dseconds":50, "sine":5, "strategy":["unit"], "query_preference":0},
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% 0.20/0.41  {"max_dseconds":50, "strategy":["query_focus", "unit"], "query_preference":2},
% 0.20/0.41  {"max_dseconds":50, "strategy":["query_focus"], "query_preference":3},
% 0.20/0.41  {"max_dseconds":50, "strategy":["negative_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":50, "strategy":["hardness_pref"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":50, "strategy":["negative_pref"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":50, "strategy":["negative_pref"], "query_preference":1, "sine":1},
% 0.20/0.41  {"max_dseconds":50, "strategy":["negative_pref"], "query_preference":2, "sine":2},
% 0.20/0.41  {"max_dseconds":50, "strategy":["hardness_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":50, "strategy":["query_focus"], "query_preference":1, "var_weight":1, "weight_select_ratio":100, "repeat_var_weight":1},
% 0.20/0.41  {"max_dseconds":50, "strategy":["query_focus", "unit"], "query_preference":1, "sine":1},
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% 0.20/0.41  {"max_dseconds":50, "strategy":["hardness_pref"], "query_preference":2},
% 0.20/0.41  {"max_dseconds":50, "strategy":["hardness_pref"], "query_preference":0, "weight_select_ratio":20, "depth_penalty":50, "length_penalty":100},
% 0.20/0.41  {"max_dseconds":50, "strategy":["hardness_pref", "max_ground_weight"], "query_preference":0},
% 0.20/0.41  {"length_penalty":100, "query_preference":0, "strategy":["negative_pref"], "max_dseconds":50},
% 0.20/0.41  {"strategy":["hardness_pref", "max_weight"], "length_penalty":100, "depth_penalty":50, "max_depth":3, "var_weight":10, "repeat_var_weight":10, "max_dseconds":50},
% 0.20/0.41  {"sine":2, "var_weight":70, "repeat_var_weight":70, "max_depth":0, "length_penalty":100, "query_preference":2, "strategy":["unit"], "max_dseconds":50},
% 0.20/0.41  {"max_dseconds":50, "strategy":["positive_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":50, "strategy":["query_focus"], "query_preference":1, "depth_penalty":100},
% 0.20/0.41  {"max_dseconds":50, "strategy":["negative_pref"], "query_preference":1, "sine":2},
% 0.20/0.41  {"max_dseconds":50, "strategy":["query_focus", "positive_pref"], "query_preference":1},
% 0.20/0.41  {"var_weight":70, "repeat_var_weight":70, "max_depth":3, "query_preference":0, "strategy":["negative_pref"], "max_dseconds":50},
% 0.20/0.41  {"max_dseconds":50, "strategy":["unit"], "query_preference":1, "reverse_clauselist":1},
% 0.20/0.41  {"max_dseconds":50, "strategy":["unit"], "query_preference":0, "sine":2},
% 0.20/0.41  {"max_dseconds":50, "strategy":["unit", "posunitpara"], "query_preference":0, "sine":2},
% 0.20/0.41  {"max_dseconds":50, "strategy":["query_focus"], "query_preference":1, "var_weight":1, "repeat_var_weight":1},
% 0.20/0.41  {"max_dseconds":50, "strategy":["negative_pref"], "query_preference":1, "var_weight":1, "repeat_var_weight":1},
% 0.20/0.41  {"max_dseconds":50, "strategy":["negative_pref"], "query_preference":0, "weight_select_ratio":100, "depth_penalty":100, "length_penalty":100},
% 0.20/0.41  {"max_dseconds":50, "strategy":["unit"], "query_preference":0, "var_weight":1, "depth_penalty":100, "repeat_var_weight":1},
% 0.20/0.41  {"weight_select_ratio":100, "length_penalty":100, "query_preference":1, "strategy":["query_focus"], "max_dseconds":50},
% 0.20/0.41  
% 0.20/0.41  {"max_dseconds":250, "strategy":["query_focus"], "query_preference":2},
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% 0.20/0.41  {"max_dseconds":250, "strategy":["query_focus", "unit"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":250, "strategy":["query_focus", "max_ground_weight"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":250, "strategy":["query_focus", "unit"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":250, "strategy":["query_focus", "positive_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":250, "strategy":["query_focus", "unit"], "query_preference":2},
% 0.20/0.41  {"max_dseconds":250, "strategy":["query_focus"], "query_preference":3},
% 0.20/0.41  {"max_dseconds":250, "strategy":["negative_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":250, "strategy":["hardness_pref"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":250, "strategy":["negative_pref"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":250, "strategy":["negative_pref"], "query_preference":1, "sine":1},
% 0.20/0.41  {"max_dseconds":250, "strategy":["negative_pref"], "query_preference":2, "sine":2},
% 0.20/0.41  {"max_dseconds":250, "strategy":["hardness_pref"], "query_preference":0},
% 0.20/0.41  
% 0.20/0.41  {"max_dseconds":1250, "strategy":["query_focus"], "query_preference":2},
% 0.20/0.41  {"max_dseconds":1250, "strategy":["query_focus"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":1250, "strategy":["query_focus", "unit"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":1250, "strategy":["query_focus", "max_ground_weight"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":1250, "strategy":["query_focus", "unit"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":1250, "strategy":["query_focus", "positive_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":1250, "strategy":["query_focus", "unit"], "query_preference":2},
% 0.20/0.41  {"max_dseconds":1250, "strategy":["query_focus"], "query_preference":3},
% 0.20/0.41  {"max_dseconds":1250, "strategy":["negative_pref"], "query_preference":0},
% 0.20/0.41  {"max_dseconds":1250, "strategy":["hardness_pref"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":1250, "strategy":["negative_pref"], "query_preference":1},
% 0.20/0.41  {"max_dseconds":1250, "strategy":["negative_pref"], "query_preference":1, "sine":1},
% 0.20/0.41  {"max_dseconds":1250, "strategy":["negative_pref"], "query_preference":2, "sine":2},
% 0.20/0.41  {"max_dseconds":1250, "strategy":["hardness_pref"], "query_preference":0} 
% 0.20/0.41  
% 0.20/0.41  ]}
% 0.20/0.41  
% 0.20/0.41  
% 0.20/0.41  **** run 1 fork 0 starts with strategy
% 0.20/0.41  {"max_dseconds":1,"strategy":["negative_pref"],"weight_select_ratio":100,"query_preference":0}
% 0.20/0.41  
% 0.20/0.41  **** run 2 fork 1 starts with strategy
% 0.20/0.41  {"max_dseconds":1,"strategy":["hardness_pref"],"weight_select_ratio":100,"query_preference":0}
% 0.20/0.41  
% 0.20/0.41  **** run 3 fork 2 starts with strategy
% 0.20/0.41  {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
% 0.20/0.41  
% 0.20/0.41  **** run 4 fork 3 starts with strategy
% 0.20/0.41  {"max_dseconds":1,"strategy":["unit"],"weight_select_ratio":100,"query_preference":0}
% 0.20/0.41  
% 0.20/0.41  **** run 5 fork 4 starts with strategy
% 0.20/0.41  {"max_dseconds":1,"strategy":["negative_pref"],"weight_select_ratio":100,"query_preference":0,"var_weight":70,"repeat_var_weight":70}
% 0.20/0.41  
% 0.20/0.41  **** run 6 fork 5 starts with strategy
% 0.20/0.41  {"max_dseconds":1,"strategy":["unit"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
% 0.20/0.41  
% 0.20/0.41  **** run 7 fork 6 starts with strategy
% 0.20/0.41  {"max_dseconds":1,"sine":5,"strategy":["negative_pref"],"query_preference":0}
% 0.20/0.41  
% 0.20/0.41  **** run 8 fork 7 starts with strategy
% 0.20/0.41  {"max_dseconds":1,"sine":5,"strategy":["hardness_pref"],"query_preference":0}
% 0.20/0.47  
% 0.20/0.47  fork 6: search finished without proof.
% 0.20/0.50  
% 0.20/0.50  **** run 15 fork 6 starts with strategy
% 0.20/0.50  {"max_dseconds":1,"strategy":["query_focus","positive_pref"],"query_preference":0}
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% 0.20/0.55  fork 7: search finished without proof.
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% 0.20/0.56  
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% 0.20/0.56  fork 5: search terminated without proof.
% 0.20/0.56  
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% 0.20/0.56  fork 4: search terminated without proof.
% 0.20/0.56  
% 0.20/0.56  
% 0.20/0.56  fork 2: search terminated without proof.
% 0.20/0.57  
% 0.20/0.57  **** run 16 fork 7 starts with strategy
% 0.20/0.57  {"max_dseconds":1,"strategy":["query_focus","unit"],"query_preference":2}
% 0.20/0.58  
% 0.20/0.58  **** run 12 fork 3 starts with strategy
% 0.20/0.58  {"max_dseconds":1,"strategy":["query_focus","unit"],"query_preference":0}
% 0.20/0.58  
% 0.20/0.58  **** run 9 fork 0 starts with strategy
% 0.20/0.58  {"max_dseconds":1,"sine":5,"strategy":["unit"],"query_preference":0}
% 0.20/0.58  
% 0.20/0.58  **** run 11 fork 2 starts with strategy
% 0.20/0.58  {"max_dseconds":1,"strategy":["query_focus"],"query_preference":1}
% 0.20/0.58  
% 0.20/0.58  **** run 14 fork 5 starts with strategy
% 0.20/0.58  
% 0.20/0.58  **** run 13 fork 4 starts with strategy
% 0.20/0.58  {"max_dseconds":1,"strategy":["query_focus","max_ground_weight"],"query_preference":1}
% 0.20/0.58  {"max_dseconds":1,"strategy":["query_focus","unit"],"query_preference":1}
% 0.20/0.59  
% 0.20/0.59  **** run 10 fork 1 starts with strategy
% 0.20/0.59  {"max_dseconds":1,"strategy":["query_focus"],"query_preference":2}
% 0.20/0.62  
% 0.20/0.62  fork 0: search finished without proof.
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% 0.20/0.63  fork 5: search finished without proof.
% 0.20/0.63  
% 0.20/0.63  
% 0.20/0.63  fork 6: search terminated without proof.
% 0.20/0.64  
% 0.20/0.64  **** run 17 fork 0 starts with strategy
% 0.20/0.64  {"max_dseconds":1,"strategy":["query_focus"],"query_preference":3}
% 0.20/0.65  
% 0.20/0.65  **** run 22 fork 5 starts with strategy
% 0.20/0.65  {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":2,"sine":2}
% 0.20/0.65  
% 0.20/0.65  fork 7: search finished without proof.
% 0.20/0.65  
% 0.20/0.65  **** run 23 fork 6 starts with strategy
% 0.20/0.65  {"max_dseconds":1,"strategy":["hardness_pref"],"query_preference":0}
% 0.20/0.67  
% 0.20/0.67  fork 3: search finished without proof.
% 0.20/0.67  
% 0.20/0.67  **** run 24 fork 7 starts with strategy
% 0.20/0.67  {"max_dseconds":1,"strategy":["query_focus"],"query_preference":1,"var_weight":1,"weight_select_ratio":100,"repeat_var_weight":1}
% 0.20/0.68  No candidate clauses found.
% 0.20/0.68  
% 0.20/0.68  
% 0.20/0.68  fork 0: search terminated without proof.
% 0.20/0.69  
% 0.20/0.69  **** run 20 fork 3 starts with strategy
% 0.20/0.69  
% 0.20/0.69  fork 5: search finished without proof.
% 0.20/0.69  {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":1}
% 0.20/0.70  
% 0.20/0.70  **** run 25 fork 0 starts with strategy
% 0.20/0.70  {"max_dseconds":1,"strategy":["query_focus","unit"],"query_preference":1,"sine":1}
% 0.20/0.71  
% 0.20/0.71  **** run 30 fork 5 starts with strategy
% 0.20/0.71  {"max_dseconds":1,"strategy":["hardness_pref"],"query_preference":2}
% 0.20/0.72  
% 0.20/0.72  
% 0.20/0.72  fork 2: search terminated without proof.
% 0.20/0.72  
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% 0.20/0.72  fork 4: search terminated without proof.
% 0.20/0.74  
% 0.20/0.74  fork 0: search finished without proof.
% 0.20/0.74  
% 0.20/0.74  **** run 21 fork 4 starts with strategy
% 0.20/0.74  {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":1,"sine":1}
% 0.20/0.75  
% 0.20/0.75  **** run 19 fork 2 starts with strategy
% 0.20/0.75  {"max_dseconds":1,"strategy":["hardness_pref"],"query_preference":1}
% 0.20/0.76  
% 0.20/0.76  **** run 33 fork 0 starts with strategy
% 0.20/0.76  {"length_penalty":100,"query_preference":0,"strategy":["negative_pref"],"max_dseconds":1}
% 0.20/0.79  
% 0.20/0.79  fork 6: search finished without proof.
% 0.20/0.81  
% 0.20/0.81  fork 3: search finished without proof.
% 0.20/0.81  
% 0.20/0.81  **** run 31 fork 6 starts with strategy
% 0.20/0.81  {"max_dseconds":1,"strategy":["hardness_pref"],"query_preference":0,"weight_select_ratio":20,"depth_penalty":50,"length_penalty":100}
% 0.20/0.82  
% 0.20/0.82  
% 0.20/0.82  fork 7: search terminated without proof.
% 0.20/0.83  
% 0.20/0.83  **** run 28 fork 3 starts with strategy
% 0.20/0.83  {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":0,"sine":1}
% 0.20/0.83  
% 0.20/0.83  fork 5: search finished without proof.
% 0.20/0.83  
% 0.20/0.83  **** run 32 fork 7 starts with strategy
% 0.20/0.83  {"max_dseconds":1,"strategy":["hardness_pref","max_ground_weight"],"query_preference":0}
% 0.20/0.85  
% 0.20/0.85  **** run 38 fork 5 starts with strategy
% 0.20/0.85  {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":1,"sine":2}
% 3.73/0.88  
% 3.73/0.88  fork 4: search finished without proof.
% 3.73/0.88  
% 3.73/0.88  fork 5: search finished without proof.
% 3.73/0.89  
% 3.73/0.89  
% 3.73/0.89  fork 0: search terminated without proof.
% 3.73/0.90  
% 3.73/0.90  **** run 29 fork 4 starts with strategy
% 3.73/0.90  {"max_dseconds":1,"strategy":["unit"],"query_preference":1}
% 3.73/0.90  
% 3.73/0.90  **** run 41 fork 0 starts with strategy
% 3.73/0.90  {"max_dseconds":1,"strategy":["unit"],"query_preference":1,"reverse_clauselist":1}
% 3.73/0.90  
% 3.73/0.90  **** run 46 fork 5 starts with strategy
% 3.73/0.90  {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
% 4.24/0.94  
% 4.24/0.94  
% 4.24/0.94  fork 6: search terminated without proof.
% 4.24/0.95  
% 4.24/0.95  fork 2: search finished without proof.
% 4.24/0.95  
% 4.24/0.95  fork 3: search finished without proof.
% 4.24/0.95  
% 4.24/0.95  fork 7: search finished without proof.
% 4.24/0.96  
% 4.24/0.96  **** run 39 fork 6 starts with strategy
% 4.24/0.96  {"max_dseconds":1,"strategy":["query_focus","positive_pref"],"query_preference":1}
% 4.24/0.97  
% 4.24/0.97  **** run 27 fork 2 starts with strategy
% 4.24/0.97  {"max_dseconds":1,"strategy":["unit"],"query_preference":0}
% 4.48/0.97  
% 4.48/0.97  **** run 36 fork 3 starts with strategy
% 4.48/0.97  {"max_dseconds":1,"strategy":["positive_pref"],"query_preference":0}
% 4.48/0.97  
% 4.48/0.97  **** run 40 fork 7 starts with strategy
% 4.48/0.97  {"var_weight":70,"repeat_var_weight":70,"max_depth":3,"query_preference":0,"strategy":["negative_pref"],"max_dseconds":1}
% 4.48/1.02  
% 4.48/1.02  fork 4: search finished without proof.
% 4.93/1.03  
% 4.93/1.03  
% 4.93/1.03  fork 5: search terminated without proof.
% 4.93/1.03  
% 4.93/1.03  **** run 37 fork 4 starts with strategy
% 4.93/1.03  {"max_dseconds":1,"strategy":["query_focus"],"query_preference":1,"depth_penalty":100}
% 4.93/1.04  
% 4.93/1.04  
% 4.93/1.04  fork 0: search terminated without proof.
% 4.93/1.04  
% 4.93/1.04  **** run 54 fork 5 starts with strategy
% 4.93/1.04  {"max_dseconds":10,"strategy":["unit"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
% 4.93/1.06  
% 4.93/1.06  **** run 49 fork 0 starts with strategy
% 4.93/1.06  {"max_dseconds":10,"strategy":["negative_pref"],"weight_select_ratio":100,"query_preference":0}
% 5.18/1.09  
% 5.18/1.09  fork 3: search finished without proof.
% 5.18/1.10  
% 5.18/1.10  fork 2: search finished without proof.
% 5.18/1.10  
% 5.18/1.10  
% 5.18/1.10  fork 6: search terminated without proof.
% 5.18/1.10  
% 5.18/1.10  
% 5.18/1.10  fork 7: search terminated without proof.
% 5.18/1.11  
% 5.18/1.11  **** run 44 fork 3 starts with strategy
% 5.18/1.11  {"max_dseconds":1,"strategy":["query_focus"],"query_preference":1,"var_weight":1,"repeat_var_weight":1}
% 5.18/1.11  
% 5.18/1.11  **** run 35 fork 2 starts with strategy
% 5.18/1.11  {"sine":2,"var_weight":70,"repeat_var_weight":70,"max_depth":0,"length_penalty":100,"query_preference":2,"strategy":["unit"],"max_dseconds":1}
% 5.18/1.11  
% 5.18/1.11  **** run 47 fork 6 starts with strategy
% 5.18/1.11  {"max_dseconds":1,"strategy":["unit"],"query_preference":0,"var_weight":1,"depth_penalty":100,"repeat_var_weight":1}
% 5.18/1.12  
% 5.18/1.12  **** run 48 fork 7 starts with strategy
% 5.18/1.12  {"weight_select_ratio":100,"length_penalty":100,"query_preference":1,"strategy":["query_focus"],"max_dseconds":1}
% 5.73/1.15  
% 5.73/1.15  fork 2: search finished without proof.
% 6.05/1.17  
% 6.05/1.17  **** run 43 fork 2 starts with strategy
% 6.05/1.17  {"max_dseconds":1,"strategy":["unit","posunitpara"],"query_preference":0,"sine":2}
% 6.05/1.17  
% 6.05/1.17  
% 6.05/1.17  fork 4: search terminated without proof.
% 6.05/1.19  
% 6.05/1.19  **** run 45 fork 4 starts with strategy
% 6.05/1.19  {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":1,"var_weight":1,"repeat_var_weight":1}
% 6.05/1.20  
% 6.05/1.20  fork 2: search finished without proof.
% 6.05/1.22  
% 6.05/1.22  **** run 51 fork 2 starts with strategy
% 6.05/1.22  {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
% 6.62/1.24  
% 6.62/1.24  fork 6: search finished without proof.
% 6.62/1.25  
% 6.62/1.25  
% 6.62/1.25  fork 7: search terminated without proof.
% 6.62/1.25  
% 6.62/1.25  
% 6.62/1.25  fork 3: search terminated without proof.
% 6.62/1.26  
% 6.62/1.26  **** run 55 fork 6 starts with strategy
% 6.62/1.26  {"max_dseconds":10,"sine":5,"strategy":["negative_pref"],"query_preference":0}
% 6.85/1.27  
% 6.85/1.27  **** run 56 fork 7 starts with strategy
% 6.85/1.27  {"max_dseconds":10,"sine":5,"strategy":["hardness_pref"],"query_preference":0}
% 6.85/1.27  
% 6.85/1.27  **** run 52 fork 3 starts with strategy
% 6.85/1.27  {"max_dseconds":10,"strategy":["unit"],"weight_select_ratio":100,"query_preference":0}
% 6.85/1.30  
% 6.85/1.30  fork 6: search finished without proof.
% 6.85/1.31  
% 6.85/1.31  fork 4: search finished without proof.
% 6.85/1.31  
% 6.85/1.31  **** run 63 fork 6 starts with strategy
% 6.85/1.31  {"max_dseconds":10,"strategy":["query_focus","positive_pref"],"query_preference":0}
% 6.85/1.32  
% 6.85/1.32  **** run 53 fork 4 starts with strategy
% 6.85/1.32  {"max_dseconds":10,"strategy":["negative_pref"],"weight_select_ratio":100,"query_preference":0,"var_weight":70,"repeat_var_weight":70}
% 12.87/2.04  
% 12.87/2.04  fork 0: search finished without proof.
% 12.87/2.06  
% 12.87/2.06  **** run 57 fork 0 starts with strategy
% 12.87/2.06  {"max_dseconds":10,"sine":5,"strategy":["unit"],"query_preference":0}
% 12.87/2.08  
% 12.87/2.08  fork 5: search finished without proof.
% 12.87/2.09  
% 12.87/2.09  fork 0: search finished without proof.
% 12.87/2.11  
% 12.87/2.11  **** run 65 fork 0 starts with strategy
% 12.87/2.11  {"max_dseconds":10,"strategy":["query_focus"],"query_preference":3}
% 12.87/2.11  
% 12.87/2.11  **** run 62 fork 5 starts with strategy
% 12.87/2.11  {"max_dseconds":10,"strategy":["query_focus","unit"],"query_preference":1}
% 12.87/2.14  No candidate clauses found.
% 12.87/2.14  
% 12.87/2.14  
% 12.87/2.14  fork 0: search terminated without proof.
% 12.87/2.15  
% 12.87/2.15  fork 5: search finished without proof.
% 12.87/2.16  
% 12.87/2.16  **** run 73 fork 0 starts with strategy
% 12.87/2.16  {"max_dseconds":10,"strategy":["query_focus","unit"],"query_preference":1,"sine":1}
% 13.82/2.17  
% 13.82/2.17  **** run 70 fork 5 starts with strategy
% 13.82/2.17  {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":2,"sine":2}
% 13.82/2.20  
% 13.82/2.20  fork 0: search finished without proof.
% 13.82/2.20  
% 13.82/2.20  fork 5: search finished without proof.
% 13.82/2.21  
% 13.82/2.21  fork 7: search finished without proof.
% 13.82/2.21  
% 13.82/2.21  **** run 81 fork 0 starts with strategy
% 13.82/2.21  {"length_penalty":100,"query_preference":0,"strategy":["negative_pref"],"max_dseconds":10}
% 13.82/2.21  
% 13.82/2.21  **** run 78 fork 5 starts with strategy
% 13.82/2.21  {"max_dseconds":10,"strategy":["hardness_pref"],"query_preference":2}
% 13.82/2.22  
% 13.82/2.22  fork 3: search finished without proof.
% 13.82/2.23  
% 13.82/2.23  **** run 64 fork 7 starts with strategy
% 13.82/2.23  {"max_dseconds":10,"strategy":["query_focus","unit"],"query_preference":2}
% 14.38/2.25  
% 14.38/2.25  **** run 60 fork 3 starts with strategy
% 14.38/2.25  {"max_dseconds":10,"strategy":["query_focus","unit"],"query_preference":0}
% 14.65/2.29  
% 14.65/2.29  fork 7: search finished without proof.
% 14.65/2.31  
% 14.65/2.31  **** run 72 fork 7 starts with strategy
% 14.65/2.31  {"max_dseconds":10,"strategy":["query_focus"],"query_preference":1,"var_weight":1,"weight_select_ratio":100,"repeat_var_weight":1}
% 14.65/2.31  
% 14.65/2.31  
% 14.65/2.31  fork 2: search terminated without proof.
% 14.65/2.32  
% 14.65/2.32  fork 3: search finished without proof.
% 14.65/2.33  
% 14.65/2.33  **** run 59 fork 2 starts with strategy
% 14.65/2.33  {"max_dseconds":10,"strategy":["query_focus"],"query_preference":1}
% 15.17/2.34  
% 15.17/2.34  **** run 68 fork 3 starts with strategy
% 15.17/2.34  {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":1}
% 15.17/2.36  
% 15.17/2.36  fork 4: search finished without proof.
% 15.41/2.37  
% 15.41/2.37  **** run 61 fork 4 starts with strategy
% 15.41/2.37  {"max_dseconds":10,"strategy":["query_focus","max_ground_weight"],"query_preference":1}
% 15.91/2.43  
% 15.91/2.43  
% 15.91/2.43  fork 6: search terminated without proof.
% 15.91/2.45  
% 15.91/2.45  **** run 71 fork 6 starts with strategy
% 15.91/2.45  {"max_dseconds":10,"strategy":["hardness_pref"],"query_preference":0}
% 20.14/2.99  
% 20.14/2.99  
% 20.14/2.99  fork 1: search terminated without proof.
% 20.14/3.01  
% 20.14/3.01  **** run 18 fork 1 starts with strategy
% 20.14/3.01  {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":0}
% 21.44/3.13  
% 21.44/3.13  fork 1: search finished without proof.
% 21.44/3.15  
% 21.44/3.15  **** run 26 fork 1 starts with strategy
% 21.44/3.15  {"max_dseconds":1,"strategy":["query_focus","double"],"query_preference":1}
% 21.66/3.20  
% 21.66/3.20  fork 5: search finished without proof.
% 21.66/3.22  
% 21.66/3.22  **** run 86 fork 5 starts with strategy
% 21.66/3.22  {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":1,"sine":2}
% 22.22/3.25  
% 22.22/3.25  fork 5: search finished without proof.
% 22.22/3.25  
% 22.22/3.25  
% 22.22/3.25  fork 0: search terminated without proof.
% 22.55/3.27  
% 22.55/3.27  **** run 94 fork 5 starts with strategy
% 22.55/3.27  {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
% 22.55/3.27  
% 22.55/3.27  **** run 89 fork 0 starts with strategy
% 22.55/3.27  {"max_dseconds":10,"strategy":["unit"],"query_preference":1,"reverse_clauselist":1}
% 22.55/3.28  
% 22.55/3.28  fork 1: search finished without proof.
% 22.55/3.29  
% 22.55/3.29  fork 3: search finished without proof.
% 22.55/3.30  
% 22.55/3.30  **** run 34 fork 1 starts with strategy
% 22.55/3.30  {"strategy":["hardness_pref","max_weight"],"length_penalty":100,"depth_penalty":50,"max_depth":3,"var_weight":10,"repeat_var_weight":10,"max_dseconds":1}
% 22.55/3.31  
% 22.55/3.31  **** run 76 fork 3 starts with strategy
% 22.55/3.31  {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":0,"sine":1}
% 23.10/3.37  
% 23.10/3.37  
% 23.10/3.37  fork 7: search terminated without proof.
% 23.10/3.38  
% 23.10/3.38  
% 23.10/3.38  fork 2: search terminated without proof.
% 23.10/3.39  
% 23.10/3.39  **** run 80 fork 7 starts with strategy
% 23.10/3.39  {"max_dseconds":10,"strategy":["hardness_pref","max_ground_weight"],"query_preference":0}
% 23.10/3.40  
% 23.10/3.40  **** run 67 fork 2 starts with strategy
% 23.10/3.40  {"max_dseconds":10,"strategy":["hardness_pref"],"query_preference":1}
% 23.10/3.42  
% 23.10/3.42  fork 6: search finished without proof.
% 23.10/3.42  
% 23.10/3.42  
% 23.10/3.42  fork 4: search terminated without proof.
% 23.10/3.43  
% 23.10/3.43  
% 23.10/3.43  fork 1: search terminated without proof.
% 23.10/3.44  
% 23.10/3.44  **** run 79 fork 6 starts with strategy
% 23.10/3.44  {"max_dseconds":10,"strategy":["hardness_pref"],"query_preference":0,"weight_select_ratio":20,"depth_penalty":50,"length_penalty":100}
% 23.10/3.44  
% 23.10/3.44  **** run 69 fork 4 starts with strategy
% 23.10/3.44  {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":1,"sine":1}
% 23.10/3.46  
% 23.10/3.46  **** run 42 fork 1 starts with strategy
% 23.10/3.46  {"max_dseconds":1,"strategy":["unit"],"query_preference":0,"sine":2}
% 24.12/3.48  
% 24.12/3.48  fork 3: search finished without proof.
% 24.12/3.50  
% 24.12/3.50  **** run 84 fork 3 starts with strategy
% 24.12/3.50  {"max_dseconds":10,"strategy":["positive_pref"],"query_preference":0}
% 24.12/3.50  
% 24.12/3.50  fork 1: search finished without proof.
% 24.12/3.51  
% 24.12/3.51  **** run 50 fork 1 starts with strategy
% 24.12/3.51  {"max_dseconds":10,"strategy":["hardness_pref"],"weight_select_ratio":100,"query_preference":0}
% 24.85/3.62  
% 24.85/3.62  fork 4: search finished without proof.
% 25.31/3.64  
% 25.31/3.64  **** run 77 fork 4 starts with strategy
% 25.31/3.64  {"max_dseconds":10,"strategy":["unit"],"query_preference":1}
% 30.03/4.30  
% 30.03/4.30  
% 30.03/4.30  fork 5: search terminated without proof.
% 30.03/4.31  
% 30.03/4.31  **** run 102 fork 5 starts with strategy
% 30.03/4.31  {"max_dseconds":50,"strategy":["unit"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
% 30.39/4.36  
% 30.39/4.36  fork 2: search finished without proof.
% 30.57/4.37  
% 30.57/4.37  fork 7: search finished without proof.
% 30.57/4.37  
% 30.57/4.37  **** run 75 fork 2 starts with strategy
% 30.57/4.37  {"max_dseconds":10,"strategy":["unit"],"query_preference":0}
% 30.57/4.39  
% 30.57/4.39  **** run 88 fork 7 starts with strategy
% 30.57/4.39  {"var_weight":70,"repeat_var_weight":70,"max_depth":3,"query_preference":0,"strategy":["negative_pref"],"max_dseconds":10}
% 30.97/4.45  
% 30.97/4.45  fork 6: search finished without proof.
% 30.97/4.46  
% 30.97/4.46  fork 3: search finished without proof.
% 30.97/4.46  
% 30.97/4.46  fork 1: search finished without proof.
% 31.23/4.47  
% 31.23/4.47  **** run 87 fork 6 starts with strategy
% 31.23/4.47  {"max_dseconds":10,"strategy":["query_focus","positive_pref"],"query_preference":1}
% 31.23/4.48  
% 31.23/4.48  **** run 92 fork 3 starts with strategy
% 31.23/4.48  {"max_dseconds":10,"strategy":["query_focus"],"query_preference":1,"var_weight":1,"repeat_var_weight":1}
% 31.23/4.48  
% 31.23/4.48  **** run 58 fork 1 starts with strategy
% 31.23/4.48  {"max_dseconds":10,"strategy":["query_focus"],"query_preference":2}
% 32.27/4.74  
% 32.27/4.74  
% 32.27/4.74  result: proof found
% 32.27/4.74  for /export/starexec/sandbox/benchmark/theBenchmark.p 
% 32.27/4.74  by run 89 fork 0 strategy {"max_dseconds":10,"strategy":["unit"],"query_preference":1,"reverse_clauselist":1}
% 32.27/4.74  % SZS status Unsatisfiable for /export/starexec/sandbox/benchmark/theBenchmark.p 
% 32.27/4.74  
% 32.27/4.74  % SZS output start CNFRefutation for /export/starexec/sandbox/benchmark/theBenchmark.p 
% See solution above
% 32.27/4.76  
% 32.27/4.76  run 89 fork 0 statistics:
% 32.27/4.76  ----------------------------------
% 32.27/4.76  this run seconds: 0.754912
% 32.27/4.76  total seconds: 3.631615
% 32.27/4.76  stat_given_used: 10558
% 32.27/4.76  stat_given_used_at_endgame: 0
% 32.27/4.76  stat_given_candidates:   20050
% 32.27/4.76  stat_given_candidates_at_endgame: 0
% 32.27/4.76  stat_given_candidates_h: 0
% 32.27/4.76  stat_binres_derived_cl:   28663
% 32.27/4.76  stat_binres_derived_cl_h: 0
% 32.27/4.76  stat_factor_derived_cl: 4626
% 32.27/4.76  stat_para_derived_cl: 0
% 32.27/4.76  stat_tautologies_discarded: 0
% 32.27/4.76  stat_forward_subsumed: 13188
% 32.27/4.76  stat_derived_cut: 3929
% 32.27/4.76  stat_derived_rewritten: 0
% 32.27/4.76  stat_weight_discarded_building: 0
% 32.27/4.76  stat_weight_discarded_cl: 1
% 32.27/4.76  stat_internlimit_discarded_cl: 0
% 32.27/4.76  stat_simplified:  115 simplified 0 derived 0 given
% 32.27/4.76  stat_kept_cl: 20099
% 32.27/4.76  stat_built_cl: 41331
% 32.27/4.76  stat_hyperres_partial_cl: 0
% 32.27/4.76  stat_made_rewriters: 0
% 32.27/4.76  stat_backward_subsumed: 0
% 32.27/4.76  stat_propagated_subsumed: 0
% 32.27/4.76  stat_clsubs_attempted:                    426636
% 32.27/4.76  stat_clsubs_fact_groundunit_found:           236
% 32.27/4.76  stat_clsubs_rule_groundunit_found:           301
% 32.27/4.76  stat_clsubs_top_meta_attempted:           53609935
% 32.27/4.76  stat_clsubs_top_meta_failed:              53183299
% 32.27/4.76  stat_clsubs_top_meta_nonpref_attempted:            53609935
% 32.27/4.76  stat_clsubs_top_meta_nonpref_succeeded:            14831704
% 32.27/4.76  stat_clsubs_top_meta_pref_attempted:               14831704
% 32.27/4.76  stat_clsubs_top_meta_pref1_succeeded:                464959
% 32.27/4.76  stat_clsubs_top_meta_pref2_succeeded:                440351
% 32.27/4.76  stat_clsubs_top_meta_pref3_succeeded:                426636
% 32.27/4.76  stat_clsubs_top_meta_pref_succeeded:                 426636
% 32.27/4.76  stat_clsubs_meta_attempted:               759051
% 32.27/4.76  stat_clsubs_meta_failed:                  464805
% 32.27/4.76  stat_clsubs_predsymbs_attempted:               0
% 32.27/4.76  stat_clsubs_unit_attempted:               225822
% 32.27/4.76  stat_clsubs_full_attempted:               200814
% 32.27/4.76  stat_forwardsubs_attempted:                33289
% 32.27/4.76  stat_lit_hash_added:                  22913
% 32.27/4.76  stat_lit_hash_computed:              226993
% 32.27/4.76  stat_lit_hash_match_found:            24122
% 32.27/4.76  stat_lit_hash_match_miss:            275264
% 32.27/4.76  stat_lit_hash_cut_ok:                 10060
% 32.27/4.76  stat_lit_strong_cut_ok:                 933
% 32.27/4.76  stat_lit_hash_subsume_ok:             13188
% 32.27/4.76  clqueue els 10000000 used 1
% 32.27/4.76  clactive els 10000000 used 10559
% 32.27/4.76  clactivesubsume els 10000000 used 31909
% 32.27/4.76  queue_termbuf els 200000000 used 802468
% 32.27/4.76  hyper_termbuf els 100000000 used 1
% 32.27/4.76  active_termbuf els 100000000 used 203319
% 32.27/4.76  varstack els 5000 last used 1
% 32.27/4.76  given_termbuf els 10000000 last used 1
% 32.27/4.76  simplified_termbuf els 10000000 last used 1
% 32.27/4.76  derived_termbuf els 10000000 last used 30
% 32.27/4.76  wr_mallocs: 80760
% 32.27/4.76  wr_callocs: 21
% 32.27/4.76  wr_reallocs: 3399
% 32.27/4.76  wr_frees: 4
% 32.27/4.76  wr_malloc_bytes: 4165432324
% 32.27/4.76  wr_calloc_bytes: 112065536
% 32.27/4.76  wr_realloc_bytes: 1899312
% 32.27/4.76  wr_realloc_freebytes: 0
% 32.27/4.76  ----------------------------------
%------------------------------------------------------------------------------